Medical microrobots (MRs) have been demonstrated for a variety of non-invasive biomedical
applications, such as tissue engineering, drug delivery, and assisted fertilization, among …

Robot-assisted and computer-integrated surgery provides innovative, minimally invasive
solutions to heal complex injuries and diseases. The dominant portion of these surgical …

In this paper, we describe the state of the art in continuum robot manipulators and systems
intended for application to interventional medicine. Inspired by biological trunks, tentacles …

We present a new optimization-based approach for robotic motion planning among
obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our …

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 …

Surgical robots have been widely adopted with over 4000 robots being used in practice
daily. However, these are telerobots that are fully controlled by skilled human surgeons …

Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one
would be hard pressed to find a major medical robotics forum that does not include several …

Alignment errors can arise during needle tip placement in deep-seated tissue structures.
This can lead to undesired diagnostic and therapeutic outcomes. Path correction by means …

Concentric tube robots can enable new clinical interventions if they are able to pass through
soft tissue, deploy along desired paths through open cavities, or travel along winding …

Steerable needles have the potential to improve the effectiveness of needle-based clinical
procedures such as biopsy and drug delivery by improving targeting accuracy and reaching …