Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …

Continuum robots are not constructed with discrete joints but, instead, change shape and
position their tip by flexing along their entire length. Their narrow curvilinear shape makes …

Existing static and kinematic models of concentric tube robots are based on the ordinary
differential equations of a static Cosserat rod. In this article, we provide the first dynamic …

The complex, nonintuitive kinematics of concentric tube robots (CTRs) can make their
telemanipulation challenging. Collaborative control schemes that guide the operating …

Equilibrium stability assessment is a primary issue in continuum robots (CRs). The possible
stable-to-unstable transitions that CRs may admit complicate the use of CRs in tasks where …

The field of robotic surgery increasingly advances towards highly articulated and continuum
robots, requiring new kinematic strategies to enable users to perform dexterous …

Concentric tube robot (CTR) is a promising class of continuum robots for medical
interventions given their compactness and dexterity. Their dexterity is in particular being …

Workspace analysis is essential for robotic manipulators, which helps researchers study,
evaluate, and optimize their designs based on specific criteria with due consideration of …

Concentric tube robots (CTR) can traverse tightly curved paths and offer dexterity in
constrained environments, making them advantageous for minimally invasive surgical …

The enhanced dexterity and manipulability offered by continuum manipulators makes them
the robots of choice for complex procedures inside the human body. However, without …