Continuum robots provide inherent structural compliance with high dexterity to access the
surgical target sites along tortuous anatomical paths under constrained environments and …

Soft and continuum robots are transforming medical interventions thanks to their flexibility,
miniaturization, and multidirectional movement abilities. Although flexibility enables …

Dexterous continuum manipulators (DCMs) have been widely adopted for minimally-and
less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy …

In conventional core decompression of osteonecrosis, surgeons cannot successfully reach
the whole area of the femoral head due to rigidity of the instruments currently used. To …

Dexterous continuum manipulators (DCMs) can largely increase the reachable region and
steerability for minimally and less invasive surgery. Many such procedures require the DCM …

Accurate placement and stable fixation are the main goals of internal fixation of bone
fractures using the traditional medical screws. These goals are necessary to expedite and …

We present an image-based navigation solution for a surgical robotic system with a
Continuum Manipulator (CM). Our navigation system uses only fluoroscopic images from a …

In this article, we present a novel stochastic algorithm called simultaneous sensor calibration
and deformation estimation (SCADE) to address the problem of modeling deformation …

Tracking and shape estimation of flexible robots that navigate through the human anatomy
are prerequisites to safe intracorporeal control. Despite extensive research in kinematic and …

Concentric tube robots have shown promise for minimally invasive surgical (MIS) tasks that
require navigation via tortuous anatomical paths. Despite extensive research on their …