Magnetic resonance imaging (MRI) can be a very effective imaging modality for live guidance during surgical procedures. The rationale of MRI-guided surgery with robot-assistance is to perform surgical interventions utilizing “realtime” image feedback while minimize operation time and improves the surgical outcomes. However, challenges arise from electromagnetic compatibility within the high-fie...

This study presents an electromagnetically-actuated reciprocating pump for high-flow-rate microfluidic applications. The pump comprises four major components, namely a lower glass plate containing a copper microcoil, a middle PMMA plate incorporating a PDMS diaphragm with a surface-mounted magnet, upper PMMA channel plates, and a ball-type check valve located at the channel inlet. When an AC cu...

We consider an electrohydraulic valve system (EHVS) model with uncertain parameters that may possibly vary with time. This is a nonlinear third order system consisting of two clearly separated subsystems, one for the piston position and the other for the chamber pressure. The nonlinearities involved are flow-pressure characteristics of the solenoid valves, the pressure dynamics of the chamber d...

In this paper, closed loop nonlinear control of a shape memory alloy (SMA) actuated flexible needle is presented. Merits of different modalities of sensory feedbacks are studied. In order to track the given desired trajectory, the actual position of the needle tip is controlled using three different feedback signals (i) Vision, (ii) Electromagnetic (EM), and (iii) Ultrasound (US) imaging feedba...

A modular mobile self‐reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot. The microrobot is designed as differential driven vehicle equipped with a passive universal connector with autonomic engagement/disengagement function, and actuated by MEMS‐based electromagnetic micromotors. To realize that the microrobot is autonomous, its electr...