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© 2018 IEEE. Retinal Vein Occlusion is a common retinal vascular disorder which can cause severe loss of vision. Retinal vein cannulation followed by injection of an anti-coagulant into the affected vein is a promising treatment. However, given the scale and fragility of the surgical workfield, this procedure is considered too high-risk to perform manually. A first successful robot-assisted procedure has been demonstrated. Even though successful, the procedure remains extremely challenging. This paper aims at providing a solution for the limited perception of instrument-tissue interaction forces as well as depth estimation during retinal vein cannulation. The development of a novel combined force and distance sensing cannulation needle relying on Fiber Bragg grating (FBG) and Optical Coherence Tomography (OCT) A-scan technology is reported. The design, the manufacturing process, the calibration method, and the experimental characterization of the produced sensor are discussed. The functionality of the combined sensing modalities and the real-time distance estimation algorithm are validated respectively on in-vitro and ex-vivo models. ispartof: pages:129-134 ispartof: https://ieeexplore.ieee.org/servlet/opac?punumber=1000639 pages:129-134 ispartof: 2018 IEEE International Conference on Robotics and Automation (ICRA) location:Brisbane date:21 May - 25 May 2018 status: published

Internal combustion engines (ICE) are combined with electric motors and batteries in both hybrid electric vehicles (HEV) and plug-in hybrid electric vehicles (PHEV) to improve efficiency and achieve a limited all electric range. This paper determines the electrical power required for charging a fleet of PHEVs in Belgium. A stochastic model based on the driving behavior of Western European drivers, determines the availability of the PHEVs for grid charging.