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RAS Publications

Publications arranged according to topic

Topics

Soft Tissue Overload Prevention

  • Famaey N., Vander Sloten J., Kuhl E.: "A three-constituent damage model for arterial clamping." Biomechanics and Modeling in Mechanobiology; March 2012
  • Famaey N., Sommer G., Vander Sloten J., Holzapfel G.A. : "Arterial Clamping: Finite element simulation and in vivo validation". Mechanical Behavior of Biomedical Materials, 12:107-18; Aug 2012
  • Famaey, N., Verbeken, E., Vinckier, S., Willaert, B., Herijgers, P., Vander Sloten, J:  "In vivo soft tissue damage assessment for applications in surgery". Medical Engineering & Physics, 32(5), 437-443, June 2010
  • Famaey, N., Vander Sloten, J: "Soft tissue modelling for applications in virtual surgery and surgical robotics". Computer Methods in Biomechanics and Biomedical Engineering, 11(4), 351-366., Aug 2008
  • Walraevens, J., Willaert, B., De Win, G., Ranftl, A., De Schutter, J., Vander Sloten, J.: "Correlation between compression, tensile and tearing tests on healthy and calcified aortic tissues". Medical Engineering & Physics, 30(9), 1098-1104, March 2008

Bilateral Teleoperation

  • B. . Willaert, B. Corteville, D. Reynaerts, H. Van Brussel: "A mechatronic approach towards bilateral teleoperation for keyhole surgery". Int. Conf. on New Actuators (ACTUATOR), Bremen, June 2012
  • B. . Willaert, B. Corteville, J. Van Vlem, K. Vanwynsberghe, D. Reynaerts, H. Van Brussel: "A multi-purpose haptic device for research on physical human-robot interaction". Int. Conf. on New Actuators (ACTUATOR), Bremen, June 2012
  • B. Willaert, M. Franken, H. Van Brussel, E. Vander Poorten : "On the use of Shunt Impedances versus Bounded Environment Passivity for teleoperation systems" , The Int. Conf. on Robotics and Automation (ICRA), 2111 - 2117; Shanghai, May 2011
  • B. Willaert, B. Corteville, H. Bruyninckx, H. Van Brussel and E. Vander Poorten: "Mechatronic Design Optimization of a Teleoperation System based on Bounded Environment Passivity." Proceedings of EuroHaptics 2010, PART I, 161-168; Amsterdam, July 2010
  • B. Willaert, B. Corteville D.Reynaerts, H.Van Brussel, E.B. Vander Poorten: "Transparency Trade-offs for a 3-channel Controller Revealed by the Bounded Environment Passivity Method" , Proceedings of the Third International Conferences on Advances in Computer- Human Interactions; 66-72; St. Maarten; 2010.
  • B. Willaert, B. Corteville D.Reynaerts, H.Van Brussel, E.B. Vander Poorten : "Bounded Environment Passivity of the Classical Position-Force controller" ; Proceedings of IEEE/ RSJ International Conference on Intelligent Robots and Systems; 4622-4628; St. Louis; 2009.
  • E. Vander Poorten, T. Kanno, Y. Yokokohji, Robust Variable-Scale Bilateral Control for Micro Teleoperation, icra 2008, pp. 655-662.
  • E.B. Vander Poorten, Y.Yokokohji, and T.Yoshikawa: Stability Analysis and Robust Control for Fixed Scaled Teleoperation, Advanced Robotics, Vol.20, No.6, (2006), pp. 681-706(26)

Model-Mediated Teleoperation

  • B. Willaert, J. Bohg, H. Van Brussel and G. Niemeyer: "Towards Multi-DOF Model-Mediated Teleoperation: Using Vision to Augment feedback." Symposium on Haptic Audio-Visual Environments and Games (HAVE), 25 - 31; Munich, Oct 2012
  • B. Willaert, H. Van Brussel and G. Niemeyer: " Stability of Model-Mediated Teleoperation: Discussion and Experiments." In Haptics: Perception, Devices , Mobiliity and Communication (EuroHaptics), 625-636; Tampere, June 2012
  • B. Willaert, P. Goethals, D. Reynaerts, H. Van Brussel and E. Vander Poorten: "Transparent and shaped stiffness reflection for telesurgery". Advances in Haptics (ISBN 978-953-307-093-3), 259-282; IN-TECH, 2010
  • B. Willaert, E.B. Vander Poorten, D.Reynaerts, H.Van Brussel; Reliable stiffness reflection for telesurgery; ICRA2008 - Workshop: "New vistas and challenges in telerobotics"; Pasadena; 2008.
  • B. Willaert, E.B. Vander Poorten, D.Reynaerts, H.Van Brussel; A pragmatic method for stable stiffness reflection in telesurgery; Haptics: Perception, Devices and Scenarios (EuroHaptics conference); 73-82; Madrid; 2008.
  • De Gersem, Gudrun, Van Brussel, Hendrik, Tendick, Frank; Reliable and enhanced stiffness perception in soft-tissue telemanipulation; The Int. J. of Robotics Research; 24(10); 805-822; 2005

Tactile Feedback

  • P.Goethals : "Tactile feedback for robot assisted minimally invasive surgery: an overview", Internal report 08RP012
  • Sette, M., Goethals, P., D'hooge, J., Van Brussel, H., Vander Sloten, J. (2010). Algorithms for ultrasound elastography: a survey. Computer Methods in Biomechanics and Biomedical Engineering, (accepted).
  • Goethals, P., Willaert, B., Sette, M., Reynaerts, D., Van Brussel, H. (2007). Tactile sensing technology for robot assisted minimally invasive surgery. Journal of Biomechanics, 40(S2), S647.
  • Sette, M., Goethals, P., Vander Sloten, J., Van Brussel, H. (2007). Tactile sense in minimally invasive surgery. In: Novel technologies for minimally invasive therapies (pp. 145-157). Italy: Lupiensis Biomedical Publications.
  • Goethals, P., Sette, M., Reynaerts, D., Van Brussel, H. (2008). Flexible elastoresistive tactile sensor for minimally invasive surgery. In : Lecture Notes in Computer Science 6th International Conference, Europhatics 2008. Madrid, Spain, Jun 11-13, 2008 (pp. 573-579). Germany: Springer-Verlag Berlin.
  • Goethals, P., Lintermans, H., Sette, M., Reynaerts, D., Van Brussel, H. (2008). Powerful compact tactile display with microhydraulic actuators. In : Lecture Notes in Computer Science 6th International Conference, Europhatics 2008. Madrid, Spain, Jun 11-13, 2008 (pp. 447-457). Germany: Springer-Verlag Berlin.
  • Peeters, K., Sette, M., Goethals, P., Vander Sloten, J., Van Brussel, H. (2008). Design considerations for lateral skin stretch and perpendicular indentation displays to be used in minimally invasive surgery. In : Lecture Notes in Computer Science, 5024. 6 6th International Conference, Europhatics 2008. Madrid, Spain, Jun 11-13, 2008 (pp. 325-330). Germany: Springer-Verlag Berlin.
  • Goethals, P., De Gersem, G., Sette, M., Reynaerts, D., Van Brussel, H. (2007). Accurate haptic teleoperation on soft tissues through slav friction compensation by impedance. In : Proceedings of the World Haptics Conference World Haptics Conference. Tsukuba, Japan, Mar 22-24, 2007 (pp. 458-463).
  • Goethals, P., Van Brussel, H., Reynaerts, D., Nuttin, M., Vander Sloten, J. (2005). Tactile feedback for robot assisted endoscopy. In : Proceedings of the 4th AMS Workshop in the IAP5/06 framework. 4 4th AMS Workshop in the IAP5/06 framework. Leuven, Belgium, Nov 9, 2005.

Robotic laser surgery

  • H.W. Tang, H. Van Brussel, J. Vander Sloten, D. Reynaerts and P. Koninckx, Implementation of an Intuitive Writing Interface and a Laparoscopic Robot for Gynaecological Laser-assisted Surgery, In: Proc Inst Mech Eng H: J Eng Med, 219, 293-302, 2005.
  • H.W. Tang, H. Van Brussel, J. Vander Sloten, D. Reynaerts, G. De Win, B. Van Cleynenbreugel and P. Koninckx, Evaluation of an intuitive writing interface in robot-aided laser laparoscopic surgery, In: Computer Aided Surgery, 11(1), 21-30, 2006
  • H.W. Tang, PhD dissertation, ‘A telesurgical robot system with intuitive and direct writing interfaces for CO2 laser laparoscopic surgery’, Katholieke Universiteit Leuven, Belgium, July 2006
  • H.W. Tang, H. Van Brussel, P. Koninckx, J. Vander Sloten and D. Reynaerts, A Laparoscopic Robot with Intuitive Interface for Gynecological Laser Laparoscopy, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Taipei, 2003, pp.2646-50
  • J. Peirs, D. Reynaerts, H. Van Brussel, G.. De Gersem, and H.W. Tang. Design of an advanced tool guiding system for robotic surgery, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Taipei, 2003, pp. 2651-2656.
  • H.W. Tang, H. Van Brussel, P. Koninckx, J. Vander Sloten and D. Reynaerts, Auto-Focussing of an Endoscopic Laser Using Image Tracking with an Endoscopic Robot, Proceedings of 2nd European Medical & Biological Engineering Conference (EMBEC’02), 04-08/12, Vienna, 2002,pp.1150-51
  • H.W. Tang, H. Van Brussel, P. Koninckx and J. Vander Sloten, The Implementation of an Intuitive Man-Machine Interface in Robot-Aided Endoscopic Laser Surgery, Computer Assisted Radiology and Surgery(CARS): Proc. of 16th int. congress and exhibition, Paris, 2002, pp.200-205
  • H.W. Tang, M.S. Ju and et al, CT-image guided positioning robot for intervening therapy, Annual Symposium of the Biomedical Engineering Society R.O.C., Taiwan, 1999, pp.46-47
  • H.W. Tang, M.S. Ju and et al, Development of Needle Insertion System for Liver Injection, Annual Symposium of the Biomedical Engineering Society R.O.C., Taiwan, 1998, pp.252-253

Steerable instruments

  • Moers, T., Reynaerts, D. (2009). Hydraulic actuation in miniature medical robots. 9 Euspen. San Sebastian, 2-5 June 2009.
  • De Volder, M., Moers, A., Reynaerts, D. (2008). Fabrication and Caracterisation of Miniature McKibben Actuators. 08 Euspen 2008. Zürich, 18-22 May 2008 (pp. 535-539).
  • Moers, A., Reynaerts, D. (2007). Miniaturized flow control for high pressure micro hydraulics. In : European Society for Precision Engineering and Nano Technology. 7 Euspen 2007. Bremen, 20-24 May 2007 (pp. 533-536).
  • De Volder, M., Ceyssens, F., Coosemans, J., Moers, T., Smal, O., Peirs, J., Puers, R., Raucent, B., Reynaerts, D. (2006). A hydraulic micro-actuator with an integrated inductive position sensor Smart Materials, NanoandSmart materials, nano- and Micro-Smart Systems. Adelaide, Australia, 10-13 december 2006 SPIE.
  • Moers, T., Reynaerts, D. (2006). Flow control for high-pressure micro hydraulics. In : Proceedings of the 4M2006 Conference on Multi-material Micro Manufacturing 4M2006 Conference on Multi-material Micro Manufacturing. Grenoble, France, Sep 20-22, 2006 (pp. 393-396).
  • Moers, T., De Volder, M., Reynaerts, D. (2006). Development of a miniaturized flow controller for two-way hydraulic microactuators. In : Proceedings of the Actuator '06 Conference Actuator '06 Conference. Bremen, Germany, Jun 14-16, 2006 (pp. 765-768).

Force measurement systems

  • B. Willaert, N. Famaey, P. Verbrugghe, D. Reynaerts, H. Van Brussel: "Design and in vivo validation of a force-measuring manipulator for MIS providing synchronized video, motion and force data" The Int. Conf. on Robotics and Automation (ICRA); Karlsruhe, May 2013
  • B. Willaert, D. Reynaerts, H. Van Brussel and E. Vander Poorten:  "Extracorporeal force measurement system for robot-assisted MIS with 3D force feedback"  ICRA - Workshop: "Advanced Sensing and Sensor Integration in Medical Robotics";  May 2009.
  • Peirs, Jan, Clijnen, J, Reynaerts Dominiek, Van Brussel, Hendrik, Herijgers, Paul, Corteville, Brecht, Boone, Sarah; A micro-optical force sensor for force feedback during minimally invasive surgery; Sensors and Actuators A; 115; 447-4455; 2004.

Completed PhD-thesis