2026
Design, Modeling, and Experimental Characterization of a Rod-Driven Continuum Robot with Asymmetric Joints for Active Chest Catheters
ICRA 2026poster
Thoracostomy involves draining fluid from the pleural cavity using chest tubes. This medical intervention is currently performed manually by inserting a hollow flexible tube, risking damage to vital organs, including the lungs, diaphragm, spleen, and mediastinum, due to the lack of control over the …