111 accepted papers
Large Vision–Language Models (LVLMs) have demonstrated remarkable capabilities across diverse multimodal tasks, yet their high inference costs necessitate low-bit deployment. Existing post-training quantization (PTQ) pipelines primarily adopt methodologies from text-only LLMs by treating multimodal …
Autonomous suturing is a critical challenge in robot-assisted surgery, where accurate segmentation and pose estimation of suturing threads are essential prerequisites. However, suturing threads are easily occluded by moving instruments and embedded in deformable tissues which make the task much more
Robot assisted endoluminal intervention is an emerging tool for treating luminal lesions. Vision-based endoluminal navigation, particularly through video-CT registration, is a tangible way of obtaining absolute camera position information. By using pre-operative CT data, accurate endoscope localizat
Continuum robots are widely used in the medical scenarios due to their dexterity and flexibility. However, precise end-to-end control of continuum robots remains challenging, limited by the kinematic or kinetostatic accuracy and no enough space for additional sensors configurations. This paper propo
Robot assisted endoluminal intervention is an emerging technique for both benign and malignant luminal lesions. With vision-based navigation, when combined with pre-operative imaging data as priors, it is possible to recover position and pose of the endoscope without the need of additional sensors.
Invasive flexible neural electrodes are becoming increasingly prevalent in monitoring and modulating brain neural activity, necessitating the precise and minimally invasive implantation of these electrodes to a depth of a few millimeters beneath the cerebral surface. Although Neuralink has pioneered
Photoacoustic Microscopy (PAM) is a relatively new imaging modality in biomedicine. However, point-by-point raster scanning in PAM suffers from low imaging speed. Sparse sampling has been studied in recent years and with the development of deep learning algorithms, extensive efforts have been devote…
For the development of robotic systems for micromanipulation, it is challenging to design appropriate control strategies due to either the lack of sufficient information for feedback or the difficulty in extracting subtle yet critical visual features. With the same system under the teleoperated mode…
Eye gaze can convey rich information of human intentions, which enables the social robots to comprehend the cognition and behavior of human targets. However, the existing 3D gaze estimation methods generally have high requirements either on the dedicated hardware or the quantity and quality of train…
Egocentric vision has gained increasing popularity in social robotics, demonstrating great potentials for personal assistance and human-centric behavior analysis. Holistic per-ception of human body itself is a prerequisite for downstream applications, including action recognition and anticipation. E…
Human movement intention recognition is important for human-robot interaction. Existing work based on motor imagery electroencephalogram (EEG) provides a non-invasive and portable solution for intention detection. However, the data-driven methods may suffer from the limited scale and diversity of th…
In endoluminal surgery, the miniature instruments shall be of high accuracy and flexibility for minimal invasive diagnosis and surgical intervention. To this end, continuum robots with flexible joints have been proposed as the mechanism of endoscopic instruments. The compliance and deformability of…
Egocentric vision is an emerging topic, which has demonstrated great potential in assistive healthcare scenarios, ranging from human-centric behavior analysis to personal social assistance. Within this field, due to the heterogeneity of visual perception from first-person views, egocentric pose esti…
Tip force sensing for cable-driven continuum robots are vital to provide the force information for safe and reliable human-robot interaction. However, traditional triaxial force sensors usually have a complicated structure occupying its inner lumen, without enough space for additional instrumental t…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the surgical sub tasks for the construction of the shared control m…
Vision-based 3D human pose estimation and shape reconstruction play important roles in robot-assisted healthcare monitoring and personal assistance. However, 3D data captured from a single viewpoint always encounter occlusions and exhibit substantial heterogeneity across different views, resulting i…
"Machine learning models fail to perform well on real-world applications when 1) the category distribution P(Y) of the training dataset suffers from long-tailed distribution and 2) the test data is drawn from different conditional distributions P(X|Y). Existing approaches cannot handle the scenario…
Though machine learning algorithms are able to achieve pattern recognition from the correlation between data and labels, the presence of spurious features in the data decreases the robustness of these learned relationships with respect to varied testing environments. This is known as out-of-distribu…
MRI-guided robotic systems are emerging platforms for minimally invasive intervention because of high positioning accuracy and excellent tissue contrast. MR safe encoders are critical components for closed-loop robotic control. This paper develops an MR safe absolute rotary encoder based on eccentri…
Semantic segmentation of surgical instruments provides essential priors for autonomous surgery. This task is however challenging since the fine-structure of surgical instruments requires the accurate segmentation of detailed regions in images. As the visual guidance for autonomous surgery, the algor…
Optical microscopy imaging is the gold standard for the diagnosis of cancers since it allows the cell-level visualization of tissues. The high quality of imaging is largely determined by the focus distances between the lens and objects. Therefore, a robust and efficient auto focusing algorithm is re
Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal thera…
Gastrointestinal (GI) endoscopy is a conventional and prevalent procedure used to diagnose and treat diseases in the digestive tract. This procedure requires inserting an endoscope equipped with a camera and instruments inside a patient to the target of interest. To manoeuvre the endoscope, an endos…
Deep Convolutional Neural Networks (DCNNs) are used extensively in medical image segmentation and hence 3D navigation for robot-assisted Minimally Invasive Surgeries (MISs). However, current DCNNs usually use down sampling layers for increasing the receptive field and gaining abstract semantic infor…
Master-Slave control is commonly used for RobotAssisted Minimally Invasive Surgery (RAMIS). The configuration, as well as the placement of the master manipulators, can influence the remote control performance. An ergonomic shared workspace analysis framework is proposed in this letter. Combined with
The assessment of microsurgical skills for Robot-Assisted Microsurgery (RAMS) still relies primarily on subjective observations and expert opinions. A general and automated evaluation method is desirable. Deep neural networks can be used for skill assessment through raw kinematic data, which has the
Master-slave systems for endovascular catheterization have brought major clinical benefits including reduced radiation doses to the operators, improved precision and stability of the instruments, as well as reduced procedural duration. Emerging deep reinforcement learning (RL) technologies could pot…
Learning from demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints. This article presents a constrained-space optimization and re
Snake-like robots for endoscopic surgery make it possible to reach deep-seated lesions. With the use of small flexible tendon-driven instruments, it is possible to perform bimanual micro-surgical tasks that are challenging for standard endoscopic surgeries. Existing devices, however, lack articulate…
Soft wearable robots represent a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints, but intuitive control of these robots require robust and compliant sensing mechanisms. In this work, we introduce the sens
Accurate real-time catheter segmentation is an important pre-requisite for robot-assisted endovascular intervention. Most of the existing learning-based methods for catheter segmentation and tracking are only trained on smallscale datasets or synthetic data due to the difficulties of ground-truth an…
Accurate force sensing is important for endoluminal intervention in terms of both safety and lesion targeting. This paper develops an FBG-based force sensor for robotic bronchoscopy by configuring three FBG sensors at the lateral side of a conical substrate. It allows a large and eccentric inner lum…
Robot-assisted endobronchial intervention requires accurate localization based on both intra- and pre-operative data. Most existing methods achieve this by registering 2D videos with 3D CT models according to a defined similarity metric with local features. Instead, we formulate the bronchoscopic lo
Robotic bronchoscopic intervention requires detailed 3D airway maps for both localisation and enhanced visualisation, especially at peripheral airways. Patient-specific airway maps can be generated from preoperative chest CT scans. Due to pathological abnormalities and anatomical variations, automat…
The recent development of Robot-Assisted Minimally Invasive Surgery (RAMIS) has brought much benefit to ease the performance of complex Minimally Invasive Surgery (MIS) tasks and lead to more clinical outcomes. Compared to direct master-slave manipulation, semi-autonomous control for the surgical ro…
The use of microrobots for cell manipulation has a range of applications in biomedical research. Direct sensing of microrobot three-dimensional (3D) position and orientation, however, is practically challenging due to the small scale involved. This letter proposes a vision-based method for estimatin
Accurate volume segmentation from the Computed Tomography (CT) scan is a common prerequisite for pre-operative planning, intra-operative guidance and quantitative assessment of therapeutic outcomes in robot-assisted Minimally Invasive Surgery (MIS). 3D Deep Convolutional Neural Network (DCNN) is a v…
Assistive robots play an important role in improving the quality of life of patients at home. Among all the monitoring tasks, gait disorders are prevalent in elderly and people with neurological conditions and this increases the risk of fall. Therefore, the development of mobile systems for gait mon
Accurate master-slave control is important for Robot-Assisted Microsurgery (RAMS). This paper presents a handheld master controller for the operation and training of RAMS. A 9-axis Inertial Measure Unit (IMU) and a micro camera are utilized to form the sensing system for the handheld controller. A n…
In the past few decades machine learning and data analysis have been having a huge growth and they have been applied in many different problems in the field of robotics. Data are usually the result of sensor measurements and, as such, they might be subjected to noise and outliers. The presence of ou…
In this paper, a novel semi-autonomous control framework is presented for enabling probe-based confocal laser endomicroscopy (pCLE) scan of the retinal tissue. With pCLE, retinal layers such as nerve fiber layer (NFL) and retinal ganglion cell (RGC) can be scanned and characterized in real-time for…
Snake-like robots are commonly used in Minimally Invasive Surgery as they are able to reach areas deep inside the human body. These robots have instruments that are deployed out of the robot's head and controlled via tendons, which connect the instrument to motors at the proximal end. In most curren…
Master-slave control is a common form of human-robot interaction for robotic surgery. To ensure seamless and intuitive control, a mechanism of self-adaptive motion scaling during teleoperaton is proposed in this letter. The operator can retain precise control when conducting delicate or complex mani
Recent advances in teleoperation-based robotic-assisted Minimally Invasive Surgery (MIS) have made significant inroads in clinical adoption. However, such master-slave surgical systems create a physical separation between the surgeon and the patient. The concept of Active Constraints (ACs) provides…
Endobronchial intervention is increasingly used as a minimally invasive means of lung intervention. Vision-based localization approaches are often sensitive to image artifacts in bronchoscopic videos. In this letter, a robust navigation system based on a context-aware depth recovery approach for mon
Current surgical augmented reality (AR) systems typically employ an on-demand display behavior, where the surgeon can toggle the AR on or off using a switch. The need to be able to turn the AR off is in part due to the obstructing nature of AR overlays, potentially hiding important information from
Snake-like robots have numerous applications in minimally invasive surgery. One important research topic of snake-like robots is the flexible joint mechanism and its actuation. This letter describes the design and fabrication of a new type of flexible joint mechanism that is enabled by metal powder
Master manipulators represent a key component of Robot-Assisted Minimally Invasive Surgery (RAMIS). In this paper, an Analytic Hierarchy Process (AHP) method is used to construct an effective workspace analysis framework, which can assist the configuration selection and design evaluation of a portab…
Suturing and knot tying in a confined space is a technically challenging yet clinically demanding task in minimally invasive surgery, which requires the use of highly articulated instruments passing through small incisions on the patient's body. Manually operating such instruments is usually very di
Over the last few years, there has been a significant rise in designing small, agile and flexible medical systems that can navigate through natural orifices. In the case of endoscopic surgery, existing systems vary significantly from each other which raises the question of the existence of a general…
Two-dimensional (2-D) biomedical semantic segmentation is important for robotic vision in surgery. Segmentation methods based on deep convolutional neural network (DCNN) can out-perform conventional methods in terms of both accuracy and levels of automation. One common issue in training a DCNN for b
In fenestrated endovascular aortic repair (FEVAR), accurate alignment of stent graft fenestrations or scallops with aortic branches is essential for establishing complete blood flow perfusion. Current navigation is largely based on two-dimensional (2-D) fluoroscopic images, which lacks 3-D anatomica
Cardiovascular diseases remain as the most common cause of death worldwide. Remotely manipulated robotic systems are utilized to perform minimally invasive endovascular interventions. The main benefits of this methodology include reduced recovery time, improvement of clinical skills and procedural f…
The current standard of intra-operative navigation during Fenestrated Endovascular Aortic Repair (FEVAR) calls for the need of 3D alignments between inserted devices and aortic branches. The navigation commonly via 2D fluoroscopic images, lacks anatomical information, resulting in longer operation h…
In this paper, we present a novel approach for surgical task segmentation. A segmentation policy learns the correlations between features and segmentation points from manually labeled data. The most correlated features and rules for segmenting them are identified and learned. These form a complete s…
In surgical workflow analysis and training in robot-assisted surgery, automatic task segmentation could significantly reduce the manual labeling time and enhance robot learning efficiency. This paper presents an unsupervised segmentation approach to automatically segment a given surgical task withou…
Assistive Robotic Manipulators (ARMs) play an important role for people with upper-limb disabilities and the elderly by helping them complete Activities of Daily Living (ADLs). However, as the objects to handle in ADLs differ in size, shape and manipulation constraints, many two or three fingered en…
Workspace analysis is essential for robotic manipulators, which helps researchers study, evaluate, and optimize their designs based on specific criteria with due consideration of ergonomics and usability. Although workspace analysis is a common research topic, current solutions provide design-specif
In Minimally Invasive Robotic Surgery (MIRS) a robot is interposed between the surgeon and the surgical site to increase the precision, dexterity, and to reduce surgeon's effort and cognitive load with respect to the standard laparoscopic interventions. However, the modern robotic systems for MIRS a…
Recent advances in probe-based Confocal Laser Endomicroscopy (pCLE) enable real-time, in situ and in vivo tissue assessment at the micro scale. The limited field-of-view offered by pCLE necessitates the use of mosaicking to allow for accurate tissue characterization from the incoming image stream. H…
Task autonomy is an important consideration for the development of future surgical robots. For robot-assisted anastomosis, suture thread detection is a prerequisite for subsequent robot manipulation. Previous works on automatic thread detection are focused on the learning of the models with specific…
Estimating the three-dimensional (3D) position of microrobots is necessary in order to develop closed-loop control techniques and to improve the user's 3D perception in the micro-scale. This paper describes a depth estimation method based on supervised learning for optically transparent microrobots…
Bronchoscopic intervention, as a minimally invasive method for the diagnosis and treatment of lung diseases, has attracted more and more attention in recent years. However, existing endobronchial instruments lack the steerability accessing the peripheral airways with difficult bifurcations. This pap
Bronchoscopic intervention, as a minimally invasive method for the diagnosis and treatment of lung diseases, has attracted more and more attention in recent years. However, existing endobronchial instruments lack the steerability accessing the peripheral airways with difficult bifurcations. This pap…
A key component to the success of master-slave surgical systems is the quality of the master interface used to relay the surgeon's instructions to the slave robot. In previous work the authors developed a gaze-assisted intention recognition scheme, allowing the system to dynamically adapt the motion…
The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6
The technique of robust suture detection is vital in many applications including trainee suturing skill evaluation, suture augmentation in robotic-assisted surgery and suture recognition for automatic suturing. Due to the complicated environment of surgery, the detection of a suture is challenged by…
Robot-assisted deployment of fenestrated stent grafts in fenestrated endovascular aortic repair (FEVAR) requires accurate geometrical alignment. Currently, this process is guided by two-dimensional (2-D) fluoroscopy, which is insufficiently informative and error prone. In this letter, a real-time fr
This paper presents a versatile robotic system for sewing a 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an all-in-one solution for sewing personalized stent graft is demonstrated. Stitch size planning and automated knot tying…
The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot u…
Robot-assisted Fenestrated Endovascular Aortic Repair (FEVAR) is currently navigated by 2D fluoroscopy which is insufficiently informative. Previously, a semi-automatic 3D shape instantiation method was developed to instantiate the 3D shape of a main, deployed, and fenestrated stent graft from a sin…
Emerging robot-assisted endovascular intervention has the potential to reduce X-ray radiations to the operator while enhancing the stability and dexterity of catheter manipulation. Supervised and shared autonomy of endovascular procedures could add further improvements in reduced fatigue and cogniti…
Suturing is an essential requirement for surgical robots. Current designs of needle drivers require significant forces to be applied so that the needle will not flip or slip between the jaws when inserted into the tissue. The required force implies that most designs are based on rigid instruments wi…
This letter introduces a single-port robotic platform for transanal endoscopic microsurgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or full-thickness dissection. This system is intended to replace the conventiona
Confocal endomicroscopy can be used for identification of early mucosal dysplasia in various gastrointestinal conditions, and has particular potential in the monitoring of Barrett's oesophagus and the early stages of oesophageal cancer. However, it can be difficult to systematically scan a significa…
Advances in optical imaging, and probe-based Confocal Laser Endomicroscopy (pCLE) in particular, offer real-time cellular level information for in-vivo tissue characterization. However for large area coverage, the limited field-of-view necessitates the use of a technique known as mosaicking to gener…
Increasing demands in endovascular intervention have motivated technical skill training and competency-based measures of performance. However, there are no well-established online metrics for technical skill assessment; few studies have explored operator behavioral patterns from catheter motion and…
This paper presents a vision-based learning-by-demonstration approach for multi-robot manipulation. With this method, a vision system is involved in both the task demonstration and reproduction stages, and the speed and accuracy of the task reproduction are adapted according to the context of the de…
Robot-assisted minimally invasive surgery can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex, undulating tissue surface to enhance the effective field-of-view through…
Six degree-of-freedom (DoF) pose feedback is essential for the development of closed-loop control techniques for microrobotics. This paper presents two methods for depth estimation of transparent microrobots inside an Optical Tweezers (OT) setup using image sharpness measurements and model-based tra…
The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace throu
Surgical manipulators are increasingly capable of approaching deep-seated pathologies through convoluted pathways due to the advances in the field of continuum robotics. This class of robots can be, in most cases, accurately modeled as a chain of cylindrical shapes. In order to safely and seamlessly
Optical Tweezers (OT) have the advantage of non-contact interaction with target objects such as cells, overcoming the pitfall of obstructive adhesion forces which are present in contact micromanipulation. It is also feasible to manipulate a number of small microparts simultaneously or 3D structures…
The use of concentric tube robots has recognized advantages for accessing target lesions while conforming to certain anatomical constraints. However, their complex kinematics makes their safe telemanipulation in convoluted anatomy a challenging task. Collaborative control schemes, which guide the op…
Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy. This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is p…
The performance of a master-slave robotic system depends significantly on the ergonomics and the capability of its master device to correctly interface the user with the slave robot. Master manipulators generating commands in task space represent a commonly adopted solution for controlling a range o…
Snake like continuum robots are increasingly used for minimally invasive surgery. Most robotic devices of this sort that have been reported to date are controlled in an open loop manner. Using shape sensing to provide closed loop feedback would allow for more accurate control of the robot's position…
Effective in situ, in vivo tumour margin assessment is an important, yet unmet, clinical demand in surgical oncology. Recent advances in probe-based optical imaging tools such as confocal endomicroscopy is making inroads in clinical applications. In practice, maintaining consistent tissue contact wh…
This work is towards targeted drug delivery using microrobots functionalized to navigate towards naturally occurring pH gradients caused by cancer cells, and to release a payload in response to a light stimulus. Stimuli-responsive microrobots for the localization of specific cell types and targeted…
This paper presents an intelligent sewing system for personalized stent graft manufacturing, a challenging sewing task that is currently performed manually. Inspired by medical suturing robots, we have adopted a single-sided sewing technique using a curved needle to perform the task of sewing stents…
Bronchoscopic interventions are widely performed for the diagnosis and treatment of lung diseases. However, for most endobronchial devices, the lack of a bendable tip restricts their access ability to get into distal bronchi with complex bifurcations. This paper presents the design of a new wire-dri
This paper introduces the design and characterization of a robotic surgical instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed instrument was designed to incorporate minimal number of compo…
In this paper, we propose manipulation ability extension of the optical tweezers by developing microhands, which are to use as end-effectors of the laser beam. First, three different 3D micro-scale handles are designed, then manufactured by the two-photon polymerization method with nano-scale resolu…
The use of conventional surgical tool holders requires an assistant during positioning and adjustment due to the lack of weight compensation. In this paper, we introduce a robotic arm system with hands-on control approach. The robot incorporates a force sensor at the end effector which realises tool…
The recent evolution of surgical robots has resolved a number of ergonomic issues associated with conventional minimally invasive surgery (MIS) in terms of aligned visiomotor axes, motion scaling and ergonomics. One of the latest advances is the introduction of human-robot cooperative control combin
Safe and effective telemanipulation of concentric tube robots is hindered by their complex, non-intuitive kinematics. Guidance schemes in the form of attractive and repulsive constraints can simplify task execution and facilitate natural operation of the robot by clinicians. The real-time seamless c…
Eye tracking technology has shown promising results for allowing hands-free control of robotically-mounted cameras and tools. However existing systems present only limited capabilities in allowing the full range of camera motions in a safe, intuitive manner. This paper introduces a framework for the…
Motor channelling is a concept to provide navigation and sensory feedback to operators in master-slave surgical setups. It is beneficial since the introduction of robotic surgery creates a physical separation between the surgeon and patient anatomy. Active Constraints/Virtual Fixtures are proposed w…
Endovascular procedures are characterised by significant challenges mainly due to the complexity in catheter control and navigation. Real-time recovery of the 3-D structure of the vasculature is necessary to visualise the interaction between the catheter and its surrounding environment to facilitate
Whilst current minimally invasive surgical robots offer many advantages to the surgeon, most of them are still controlled using the traditional master-slave approach, without fully exploiting the complementary strengths of both the human user and the robot. This paper proposes a framework that provi…
The surgical robotics community have developed many different flexible robot designs to address the access problems of minimally invasive surgery. In this paper, we present a hand-held mechatronic tool with a miniaturized distal flexible manipulator incorporating a microscopy probe, camera and a lig…
Transanal Endoscopic Microsurgery (TEM) is a minimally invasive oncological resection procedure that utilises a natural orifice approach rather than the traditional abdominal or open approach. However, TEM has a significant recurrence rate due to incomplete excisions, which can possibly be attribute…
Micromanipulation tasks are usually carried out using simplistic tools such as rigid probes and needles. More sophisticated tools such as grippers are fragile, expensive and non-dexterous. This paper addresses some of the main challenges of manipulation at the micrometer scale, including robots with…
Concentric tube robots are catheter-sized robots that are ideally suited for navigating along natural anatomical pathways and treating deep-seated pathologies. Their telemanipulation in dynamic environments requires on-line computation of inverse kinematics with simultaneous avoidance of anatomical…
Additive manufacturing is a technology in constant evolution. It is able to produce objects otherwise either impractical or unfavorable for traditional manufacturing technologies, especially in relatively limited quantities. The advancement of Selective Laser Melting (SLM) has made it possible to ma…
As mobile robots are becoming increasingly more popular in workplaces, public places and homes, the understanding of surface dynamics is one of the new challenges to improve their mobility and reduce overall disturbance in the human environment. This work proposes a comparison between different clas…
A fundamental problem with dual-arm robotic control is to find the coordinated motion resolution under high kinematic redundancy and intrinsic constraints of each robot. To solve this problem, this paper presents a multi-tasking, co-operative control framework, in which potential task conflicts and…
Despite the increased use of robotic catheter navigation systems, and the growing interest in surgical skill evaluation in the field of endovascular intervention, there is a lack of objective and quantitative metrics for performance evaluation. So far very little research has studied operator behavi…
Concentric tube robots have shown promise for minimally invasive surgical (MIS) tasks that require navigation via tortuous anatomical paths. Despite extensive research on their kinematic and dynamic modelling, however, inaccuracies and deformations of their shape due to unknown loads and collisions…