3 accepted papers
Concentric Tube Robots (CTRs) are a type of continuum robot capable of manipulating objects in restricted spaces and following smooth trajectories. CTRs are ideal instruments for minimally invasive surgeries. Accurate control of CTR's motion in presence of contact with tissue and external forces wil
Bronchoscopy is a medical procedure that involves the insertion of a flexible tube with a camera into the airways to survey, diagnose and treat lung diseases. Due to the complex branching anatomical structure of the bronchial tree and the similarity of the inner surfaces of the segmental airways, na…
Accurate shape estimation of concentric tube robots (CTRs) using mathematical models remains a challenge, reinforcing the need to develop techniques for accurate and real-time shape sensing of CTRs. In this paper, we develop a fusion algorithm that predicts the robot's shape by combining a mathemati…