Explanipedia

Using Virtual Reality Simulators to Enhance Laparoscopic Cholecystectomy Skills Learning Open

Irene H. Suh, Hong Li, Yucheng Li, Carl A. Nelson, Dmitry Oleynikov , et al. · 2025

(1) Medical training is changing, especially for surgeons. Virtual reality simulation is an excellent way to train surgeons safely. Studies show that surgeons who train with simulation have demonstrated improved technical skills in fundame…

Design of Automated Insulin Needle Dispenser for Diabetes Care Open

Fatma Mohamed, Carl A. Nelson, Yucheng Li · 2025

Diabetes affects a significant portion of the global population, with 11.6% of individuals in the United States living with this chronic condition. Many patients rely on insulin injections for the daily management of their blood glucose le…

Implementation of Handle Redesign for Minimally Invasive Stapler-Cutter Instrument Open

Peyton Kullmann, Carl A. Nelson, Mark A. Carlson · 2025

This paper presents the implementation of a handle redesign for minimally invasive surgical stapler-cutters. Concept designs for improved handle ergonomics and safety prevention against operator error are realized using reoriented triggers…

Design of a Lightweight Ambulation Support for In-Home Rehabilitation Open

Zach McWilliams, Yucheng Li, Carl A. Nelson, Tyler Scherr · 2025

This paper presents the design, prototyping, and evaluation of a novel ambulation support device aimed at enhancing post-surgical rehabilitation in home settings. Motivated by the limitations of current ambulation devices, including their …

Remote Ultrasound Robot – Design Development and Prototyping Open

Benjamin L. Zwiener, Simon J. Thengvall, Zach McWilliams, Blake Anderson, Yucheng Li , et al. · 2025

The ability to achieve accurate diagnosis in both technically challenging ultrasound views and complex or rare anatomical findings is a capability that currently separates high-volume medical centers from many under-resourced healthcare se…

Development of New Generation Portable Camera-Aided Surgical Simulator for Cognitive Training in Laparoscopic Cholecystectomy Open

Yucheng Li, Victoria A. Nelson, C.T. Nguyen, Irene H. Suh, Suvranu De , et al. · 2025

Laparoscopic cholecystectomy (LC) is the standard procedure for gallbladder removal, but improper identification of anatomical structures can lead to biliary duct injury (BDI). The critical view of safety (CVS) is a standardized technique …

Design and Validation of an Improved Rotational Variable Stiffness Mechanism Open

Carl A. Nelson, Kasey Moomau, Yucheng Li · 2024

In various aspects of robotics, including human–robot interaction, the ability to dynamically adjust the apparent stiffness of an interaction (e.g., between the robot and its environment or between the robot and its payload) has become an …

Improved Portable Instrument Tracking System for Surgical Training Open

Victoria A. Nelson, Han Wei Ang, Simon J. Thengvall, Carl A. Nelson, Hong Li , et al. · 2024

Surgeons in training have a limited opportunity to practice their skills in a realistic surgical environment. Surgical training models are expensive and are often single-use exercises involving consumable supplies. The goal of the work pre…

Effects of Acute Intracranial Pressure Changes on Optic Nerve Head Morphology in Humans and Pig Model Open

Sachin Kedar, Junfei Tong, John Paul Bader, Shane Havens, Shan Fan , et al. · 2021

We conclude that ONH does not show measurable morphological changes in response to acute changes of CSFP/ICP. Proposed mechanisms include compensatory and opposing changes in IOP and CSFP/ICP and nonlinear or nonmonotonic effects of IOP an…

Applications of thick rigid flat-folding origami to practical objects Open

Carl A. Nelson · 2021

This paper presents an approach to rigid flat origami design, with applications including a portable boat and travel-size musical instrument. The conditions for rigid flat folding are summarised, and a set of procedural design guidelines a…

Applications of thick rigid flat-folding origami to practical objects Open

Carl A. Nelson · 2021

This paper presents an approach to rigid flat origami design, with applications including a portable boat and travel-size musical instrument. The conditions for rigid flat folding are summarised, and a set of procedural design guidelines a…

Special Issue: Medical Robotics and Human Interfaces Open

Med Amine Laribi, Carl A. Nelson, Nandini Duraiswamy · 2020

Significant advances have been made in the field of medical robotics in recent decades. Spanning series and parallel robotic architectures, rigid and soft materials, and a variety of control approaches to move instruments to various areas …

The Effects of Acute Intracranial Pressure Changes on the Episcleral Venous Pressure, Retinal Vein Diameter and Intraocular Pressure in a Pig Model Open

Deepta Ghate, Sachin Kedar, Shane Havens, Shan Fan, William Thorell , et al. · 2020

We believe that the ophthalmic effects of acute ICP elevation are mediated by increased intracranial venous pressure producing upstream pressure changes within the orbital and retinal veins. These results offer exciting possibilities for t…

Walking with added mass magnifies salient features of human foot energetics Open

Nikolaos Papachatzis, Philippe Malcolm, Carl A. Nelson, Kota Z. Takahashi · 2020

The human foot serves numerous functional roles during walking, including shock absorption and energy return. Here, we investigated walking with added mass to determine how the foot would alter its mechanical work production in response to…

A redundant rehabilitation robot with a variable stiffness mechanism Open

Carl A. Nelson, Laurence Nouaille, Gérard Poisson · 2020

Modular Self-Reconfigurable Robot for Autonomous Rehabilitation Assistance in Daily Living Tasks for Spinal Cord Injury Patients Open

Carl A. Nelson, Mitchell A. Bruckner, Jay S. Chae, Judith M. Burnfield, Thad W. Buster , et al. · 2019

This paper presents a modular robot for assisting individuals with spinal cord injury with everyday tasks. The basic premise of modularity for task-variable environments is laid out, and the modular robot design is detailed including needs…

A sensorless force-feedback system for robot-assisted laparoscopic surgery Open

Baoliang Zhao, Carl A. Nelson · 2019

The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and there are many problems for the traditional sensor-based solutions. This paper builds a teleoperation surgical system and validates the effective…

A sensorless force-feedback system for robot-assisted laparoscopic surgery Open

Baoliang Zhao, Carl A. Nelson · 2019

The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and there are many problems for the traditional sensor-based solutions. This paper builds a teleoperation surgical system and validates the effective…

Board # 108 : UNL Summer REU Program in Biomedical Devices Open

Carl A. Nelson, Greg Bashford · 2018

We report results of a multi-year summer undergraduate research program (REU) focused on diagnostic and therapeutic biomedical devices. The goals of the project include fostering independent research skills, recruitment from underrepresent…

Board # 109 : Mechanical Engineering Capstone Projects in Rehabilitation Design Open

Carl A. Nelson, Judith M. Burnfield, Linxia Gu, Adam Wagler, William Dick · 2018

We report results of a multi-year project aimed at offering socially relevant capstone design projects (with a rehabilitation engineering focus) to mechanical engineering student teams in their final undergraduate semester. Students meet r…

Design of a Modular, Partially Disposable Robot for Minimally Invasive Surgery Open

Nicholas Nelson, Carl A. Nelson · 2018

Most robots for minimally invasive surgery (MIS) are large, bulky devices which mimic the paradigm of manual MIS by manipulating long, rigid instruments from outside the body [1]. Some of these incorporate “wristed” instruments to place so…

Episcleral Venous Pressure And Intraocular Pressure As Biomarkers For Intracranial Pressure Changes Open

Deepta Ghate, Vikas Gulati, Shane Havens, Shan Fan, William Thorell , et al. · 2017

Design and Validation of a Biosensor Implantation Capsule Robot Open

Wanchuan Xie, Weston M. Lewis, Jared Kaser, Charles Welch, Fuli Li , et al. · 2017

We have proposed a long-term, noninvasive, nonrestrictive method of delivering and implanting a biosensor within the body via a swallowable implantation capsule robot (ICR). The design and preliminary validation of the ICR’s primary subsys…

Hydraulic Robotic Surgical Tool Changing Manipulator Open

Abolfazl Pourghodrat, Carl A. Nelson, Dmitry Oleynikov · 2016

Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform “scarless” abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platf…

Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics Open

Abolfazl Pourghodrat, Carl A. Nelson · 2016

Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with…

A Graph Isomorphism-based Decentralized Algorithm for Modular Robot Configuration Formation Open

Ayan Dutta, Prithviraj Dasgupta, Carl A. Nelson · 2016

We consider the problem of configuration formation in modular robot systems where a set of modules that are initially in different configurations and located at different locations are required to assume appropriate positions so that they …

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool Open

Baoliang Zhao, Carl A. Nelson · 2016

Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger f…

Sensorless Force Sensing for Minimally Invasive Surgery Open

Baoliang Zhao, Carl A. Nelson · 2015

Robotic minimally invasive surgery (R-MIS) has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool–tissue reaction forces is attachi…

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