3 accepted papers
This paper presents an error-state Model Predictive Path Integral (MPPI) framework for tendon-driven continuum robots (TDCRs). Tracking-error dynamics are formulated on a Lie group to preserve full pose geometry, yielding precise position-orientation error metrics. A nonlinear Cosserat-rod model wit
Tendon-driven continuum robots (TDCRs) have received widespread attention in the medical domain due to their slender shape and flexibility. Modeling the dynamics of TDCRs involves continuum mechanics that result in nonlinear and computationally intensive models posing challenges for real-time contro
In this paper, we validate the effectiveness of the optimal planning algorithms we have developed for devising surgical plans for Percutaneous Nephrolithotomy (PCNL) using patient-specific Concentric-Tube Robots (CTRs). To do so, we built a life-sized phantom model of the right hemithorax, replicati