3 accepted papers
The Concentric Tube Robot (CTR) has great promise for minimally invasive surgery. However, accurately modeling nonlinear and history-dependent behaviors remains a significant challenge. This paper proposes a learning-based forward and inverse kinematics model that accounts for the history dependence…
The Concentric Tube Robot (CTR) has great promise for minimally invasive surgery. However, accurately modeling nonlinear and history-dependent behaviors remains a significant challenge. This letter proposes a learning-based forward and inverse kinematics model that accounts for the history dependenc
During vitreoretinal surgery, surgeons are required to precisely manipulate surgical tools within a confined workspace of an eye, which is roughly 2.5 cm spherical in shape. Because the surgical view can only be obtained by a microscope placed above the eyeball through the pupil, the eyeball needs t…