With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …

Soft robots offer an alternative approach to manipulate within a constrained space while
maintaining a safe interaction with the external environment. Owing to its adaptable …

Abstract Rod-driven Parallel Continuum Robots (PCR) are a class of continuum robots (CR)
that possess the potential to combine advantages of parallel structure into CRs. However …

Flexible endoscopy involves the insertion of a long narrow flexible tube into the body for
diagnostic and therapeutic procedures. In the gastrointestinal (GI) tract, flexible endoscopy …

We propose an endoscopic image mosaicking algorithm that is robust to light conditioning
changes, specular reflections, and feature-less scenes. These conditions are especially …

This paper presents a flexible joint with excellent motion range, outstanding constant
curvature characteristics, tiny hysteresis, and high loading capacity to support distal …

Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are
significantly restricted by complex control systems and bulky power devices, including fluidic …

Soft pneumatic actuators have been explored for endoscopic applications, but challenges in
fabricating complex geometry with desirable dimensions and compliance remain. The …

The rise of soft robotics opens new opportunities in endoscopy and minimally invasive
surgery. Pneumatic catheters offer a promising alternative to conventional steerable …

Magnetically actuated soft robots have recently been identified for application in medicine,
due to their potential to perform minimally invasive exploration of human cavities. Magnetic …