Browse media related to the Implantable Robotics Lab (IRL), including visual media and other resources that reflect the lab’s work in implantable robotics and associated technologies.

IBRoB: A Robotic Urinary Bladder Enabling Volume Monitoringand Assisted Micturition

The soft balloon as bladder body

Demonstration of the hexagon balloon in a full condition and its star-like shape in an empty condition. Its folds facilitate the complete closure of the balloon and leads to nearly zero internal volume in the empty configuration.

Advanced Intelligent Systems: Volume 8, Issue 2, February 2026, DOI: 10.1002/aisy.202500516

The flexible braided links that intersect to form a variable-diameter helical cylinder

Demonstration of the flexible braided links that intersect to form a variable diameter cylinder. This can transfer the actuation compression force to the balloon and fold the balloon's sides to create a star-like shape. Moreover, it works as a base structure to hold sensors. We experimentally measured the inductance changes while the springs were in cyclic elongations by a linear stage actuator.

Advanced Intelligent Systems: Volume 8, Issue 2, February 2026, DOI: 10.1002/aisy.202500516

The IBRoB Adapts to the Urine Volume and Assists Micturition

Demonstration of the bench top trials on bladder volume estimation and assisted micturition. Trials were initiated in an empty state and by dynamic actuation, the cables tension was adjusted in real time to avoid extra high or low radial forces on the bladder body. The trials have been ended with a voiding phase by opening the valve and activating the cable-based actuation mechanism.

Advanced Intelligent Systems: Volume 8, Issue 2, February 2026, DOI: 10.1002/aisy.202500516

A Telerobotic System for Transesophageal Echocardiography

Design and Hysteresis Compensation

In this video, we show system overview of the proposed manipulator and demonstrate 2-DOF motion (pitch and yaw axes) control of it. We also show the payload capacity of the manipulator, illustrating how the tip surpasses the proximal joint while lifting a weight of 1600g.

IEEE Robotics and Automation Letters, vol. 10, no. 1, pp. 104-111, Jan. 2025, doi: 10.1109/LRA.2024.3502057.

Robotic Manipulator for Aortic Heart Replacement

ValveTech: a Novel Robotic Approach for Minimally Invasive Aortic Valve Replacement

Aortic valve disease is the most common heart disease in the elderly calling for replacement with an artificial valve. The presented surgical robot aims to provide a highly controllable instrument for efficient delivery of an artificial valve by the help of integrated endoscopic vision.

IEEE Transactions on Biomedical Engineering, vol. 68, no. 4, pp. 1238-1249, April 2021, doi: 10.1109/TBME.2020.3024184.

Semi-autonomous Robotic Manipulator for Minimally Invasive Aortic Valve Replacement

The video presents the introduction to ValveTech robot. It demonstrates the Hybrid Force/Shape Observer framework and the haptic interface. Then, two experiments for evaluating the surgical navigator performance in stationary and mobile target trials. Further, the experiment to automatically position the tip in the robot workspace. And, in-vitro investigation in aortic valve delivery trial.

IEEE Transactions on Robotics, vol. 39, no. 6, pp. 4500-4519, Dec. 2023, doi: 10.1109/TRO.2023.3315966.

Implantable Device for Drug Delivery

PILLSID: a fully implantable robotic device refillable through ingestible magnetic pills carrying drugs.

Here, we describe PILLSID (PILl-refiLled implanted System for Intraperitoneal Delivery), a fully implantable robotic device refillable through ingestible magnetic pills carrying drugs. Once refilled, the device acts as a programmable microinfusion system for precise intraperitoneal delivery.

SCIENCE ROBOTICS, 11 Aug 2021, Vol 6, Issue 57
DOI: 10.1126/scirobotics.abh3328