Kevin Ai Xin Jue Luo — accepted AI-conference papers

2021

Design Optimization for the Stability of Concentric Tube Robots

Kevin Ai Xin Jue Luo, Jongwoo Kim, Thomas Looi, James M. Drake

RA-L 2021

Concentric tube robots are catheter-sized continuum robots that show dexterous movement for minimally invasive surgical procedures. However, one of the major challenges to the practical usage of concentric tube robots is their instability, which potentially leads to the risk of tissue rupture. The s

Cited by 17 Source ↗Scholar ↗

2018

Designing Concentric Tube Manipulators for Stability Using Topology Optimization

Kevin Ai Xin Jue Luo, Thomas Looi, Saba Sabetian, James Drake

IROS 2018poster

One of the major problems facing the development and road to practical usage of concentric tube continuum robots in surgical environments is that of instability. This issue, also known as the snapping problem, is caused by a tube having a high bending to torsional stiffness ratio (BTSR). Past effort…

Cited by 21 Source ↗Scholar ↗