4 accepted papers
Concentric Tube Robots (CTRs) are a type of continuum robot capable of manipulating objects in restricted spaces and following smooth trajectories. CTRs are ideal instruments for minimally invasive surgeries. Accurate control of CTR's motion in presence of contact with tissue and external forces wil
Accurate shape estimation of concentric tube robots (CTRs) using mathematical models remains a challenge, reinforcing the need to develop techniques for accurate and real-time shape sensing of CTRs. In this paper, we develop a fusion algorithm that predicts the robot's shape by combining a mathemati…
Concentric Tube Robots (CTR) have been gaining ground in minimally-invasive robotic surgeries due to their small footprint, compliance, and high dexterity. CTRs can assure safe interaction with soft tissue, provided that precise and effective motion control is achieved. Controlling the motion of CTR…
The Cosserat rod equations are used to model continuum and soft robots. Solving these equations are computationally expensive, particularly due to mixed boundary values and kinematic constraints. In this paper, we present a novel nonlinear observer that can rapidly estimate the solution of the Cosse…