Majid Roshanfar

Force-Guided Collaborative Control and Digital Twin of a Snake Robot for Cranial Bone Surgery

Evaluating Generative Models for Inverse Kinematics of Concentric Tube Robots

Concentric tube robots (CTRs) hold great potential for minimally invasive surgery, offering flexibility, small diameters, and the ability to navigate within complex anatomical structures. While machine learning models have been increasingly used to predict the kinematics of CTRs, there is a lack of

Learning-Based Tip Contact Force Estimation for FBG-Embedded Continuum Robots

Knowledge of the tip contact force in continuum robots, which are often used as medical instruments, is critical for clinical applications. It enhances the interventionalist's decision-making, navigation efficiency, and procedural safety. However, accurately determining the tip contact force in conv