Martin C. W. Leong

TL;DR: This study proposes a generic control framework based on nonparametric and online, as well as local, training to learn the inverse model directly, without prior knowledge of the robot's structural parameters, enabling a soft fluid-driven continuum robot to follow a 3D trajectory precisely, even under dynamic external disturbance.

TL;DR: A robotic manipulator to realize robot-assisted intracardiac catheterization in magnetic resonance imaging (MRI) environment is introduced and the first MR Safe robot is presented, designed particularly for cardiac electrophysiological (EP) intervention.

TL;DR: In patients undergoing LAA occlusion, device size selection in agreement with 3D-printed model-based sizing is associated with improved safety and efficacy and may lead to superior outcomes.

TL;DR: To improve the surgical workflow and achieve greater clinical penetration, 3 key enabling techniques are proposed with emphasis on their current status, limitations, and future trends.

TL;DR: A novel control framework that can characterize the kinematics of a soft continuum robot through the hyper-elastic Finite-element modeling (FEM) enables frequent updates of the Jacobian mapping from the user motion input to the end-effector's point of view.