5 accepted papers
When designing continuum robots for applications that require sensing, designers are faced with the problems of deciding what sensors to use, where they should be placed, and how best to use the information they provide. In this paper, we describe how a differential representation of a continuum rob
We propose a new class of robotic device for minimally-invasive surgery that lies at the intersection of continuum, parallel, and reconfigurable robotics. This Continuum Reconfigurable Incisionless Surgical Parallel (CRISP) paradigm involves the use of multiple needle-diameter devices inserted throu…
Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels…
The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. We present a needle-sized wrist design that grants this ability.…
Lung cancer is the most deadly form of cancer, and survival depends on early-stage diagnosis and treatment. Transoral access is preferable to traditional between-the-ribs needle insertion because it is less invasive and reduces risk of lung collapse. Yet many sites in the peripheral zones of the lun…