3 accepted papers
The Concentric Tube Robot (CTR) has great promise for minimally invasive surgery. However, accurately modeling nonlinear and history-dependent behaviors remains a significant challenge. This paper proposes a learning-based forward and inverse kinematics model that accounts for the history dependence…
The Concentric Tube Robot (CTR) has great promise for minimally invasive surgery. However, accurately modeling nonlinear and history-dependent behaviors remains a significant challenge. This letter proposes a learning-based forward and inverse kinematics model that accounts for the history dependenc
This paper presents a novel robotic system designed for efficient minimally invasive eye surgery. The proposed prototype integrates a concentric tube mechanism(CTM) and a belt-driven remote center of motion(RCM) mechanism, aiming to maximize the internal reachable workspace while minimizing external…