5 accepted papers
Navigating tortuous anatomical pathways, such as the aortic arch, requires continuum robots capable of complex three-dimensional deformations. Existing designs are often limited to specific curve families, and extending their shape capabilities usually increases mechanical complexity and system size
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft robots, their shape, vision sensors are favorable because they a…
This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines a concentric tube robot and a wrist at the distal end, actuated by a tendon. We first introduce the surgical protocol through
The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are numerous situations, in particular for medical applications, where environmental and sensor density requirements can pose challenges to sensor design. In our previou
In this paper, we propose to take advantage of concentric tube robots (CTR) properties to design a robotic system for optical biopsies with fiber-based imaging modalities. Follow-the-leader (FTL) deployment, with CTR body following its tip, is being integrated as a design constraint in order to mini…