Andria A. Remirez — accepted AI-conference papers

2020

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Federico Campisano, Andria A. Remirez, Simone Caló, James Henry Chandler, Keith L. Obstein, Robert J. Webster III +1

RA-L 2020

Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Indep

Cited by 22 Source ↗Scholar ↗

2020

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Caló, Keith L. Obstein, Robert J. Webster III +1

RA-L 2020

Gastric cancer is the third leading cause of cancer deaths worldwide, with most new cases occurring in low and middle income countries, where access to screening programs is hindered by the high cost of conventional endoscopy. The waterjet-actuated HydroJet endoscopic platform was developed as a low

Cited by 19 Source ↗Scholar ↗

2015

Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots

Isuru S. Godage, Andria A. Remirez, Raul Wirz, Kyle D. Weaver, Jessica Burgner-Kahrs, Robert J. Webster

IROS 2015poster

Several robotic systems have been proposed for removing blood from the brain in patients who have undergone a hemorrhagic stroke. In this paper we explore the use of imagebased feedback to address tissue deformation when aspirating a hemorrhage in a phantom model. This is the first time intraoperati…

Cited by 39 Source ↗Scholar ↗

2015

Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system

Philip J. Swaney, Arthur W. Mahoney, Andria A. Remirez, Erik Lamers, Bryan I. Hartley, Richard H. Feins +2

ICRA 2015poster

Lung cancer is the most deadly form of cancer, and survival depends on early-stage diagnosis and treatment. Transoral access is preferable to traditional between-the-ribs needle insertion because it is less invasive and reduces risk of lung collapse. Yet many sites in the peripheral zones of the lun…

Cited by 57 Source ↗Scholar ↗