Amber K. Rothe

Model-Based Parameter Selection for a Steerable Continuum Robot - Applications to Bronchoalveolar Lavage (BAL)

Bronchoalveolar lavage (BAL) is a minimally invasive procedure for diagnosing lung infections and diseases. However, navigating tortuous lung anatomy to the distal branches of the bronchoalveolar tree for adequate sampling using BAL remains challenging. Continuum robots have been used to improve the