Golchehr Amirkhani

Johns Hopkins University | JHU · Department of Mechanical Engineering

Background Autonomous grasping of soft tissues can facilitate the robotic surgery procedures. The previous attempts for implementing auto‐grasping have been based on a simplistic representation of the actual surgery maneuvers. Method A generalized three‐zone grasp model was introduced to consider the effect of the pull force angulation on the gras...

Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for the whole system's performance improvement in terms of transparency, the analogy to the real environment, and...

Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control of CDMs' shape during non-constant curvature bending is still challenging. This study presents a novel approa...

Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control of CDMs’ shape during non-constant curvature bending is still challenging. This study presents a novel approa...

A method for controlling a laparoscopic instrument. The method includes grasping a target utilizing the laparoscopic instrument by applying an initial trigger force to a trigger of the laparoscopic instrument, obtaining an updated trigger force based on a first pinch force, a second pinch force, and a state of the laparoscopic instrument, and grasp...