Continuum robotics has rapidly become a rich and diverse area of research, with many
designs and applications demonstrated. Despite this diversity in form and purpose, there …

The robotics community has seen an exponential growth in the level of complexity of the
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …

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 …

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 …

Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can
provide dexterity at diameters equivalent to standard surgical needles. Recent mechanics …

We present a new variable curvature continuum kinematics for multisection continuum
robots with arbitrarily shaped backbone curves assembled from sections with three degrees …

Mechanics-based models of concentric tube continuum robots have recently achieved a
level of sophistication that makes it possible to begin to apply these robots to a variety of real …

Continuum manipulators offer a means for robot manipulation in a constrained environment,
where the manipulator body can safely interact with, comply with, and navigate around …

Continuum robots can traverse anatomical pathways to intervene in regions deep inside the
human body. They are able to steer along 3D curves in confined spaces and dexterously …

Minimally invasive medical procedures, such as endovascular catheterization, have
considerably reduced procedure time and associated complications. However, many …