3 accepted papers
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
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
Dexterity is demanded for an endoscopic tool to handle complicated procedures in neurosurgery, e.g., removing diseased tissue from inside the deep brain along a tortuous path. Current robotic tools are either rigid or lack wristed motion ability at the tip, leading to limited usage in minimally inva…