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This paper presents a kinetostatic modeling framework for flexible cannulas (concentric tubing robots) subject to tip loads. Unlike existing methods that allow fast computation of the beam tip position, this modeling framework provides fast computation of both the tip position and the entire shape of the deflected robot. A method for online force sensing based on inverse kinetostatic solution is also proposed and assistive telemanipulation control methods for microstent delivery are presented. The modeling framework uses polynomial approximation and linear interpolation based on elliptic integral solutions to the deflection of lightweight beams. To date, there are no systems capable of stent deliv-ery in retinal vasculature. The modeling and control frameworks of this paper are vali-dated experimentally on pilot studies for microstent delivery. We believe that the methods presented in this paper open the way for robot-assisted retinal microvascular stenting that may potentially revolutionize the treatment of blinding retinal vasculature diseases. [ABSTRACT FROM AUTHOR]

This paper presents design, hardware, software, and parameter optimization for a novel robotic automation system. RABiT is a Rapid Automated Biodosimetry Tool for high throughput radiological triage. The design considerations guiding the hardware and software architecture are presented with focus on methods of communication, ease of implementation, and need for real-time control versus soft time control cycles. The design and parameter determination for a non-contact PVC capillary laser cutting system is presented. A novel approach for lymphocyte concentration estimation based on computer vision is reported. Experimental evaluations of the system components validate the success of our prototype system in achieving a throughput of 6,000 samples in a period of 18 hours.