Redefining what's possible
Our needle insertion strategy based on admittance impedance model optimizes the puncture
force of the needle tip by about 50%, greatly reducing bleeding and skin damage.
References
Duan, B., Jia, B., Wang, C., Chen, S., Xu, J., & Teng, G.-J. (2023).
Puncture Force Optimization in Robot-Assisted Interventional Surgery using Admittance Control. Submitted to IEEE Robotics and Automation Letters (RAL).