Parallel continuum robots (PCRs) combine the compactness, simplicity, and compliance of
continuum robots with the precision and strength of rigid-link parallel robots. In this paper …

This paper presents a novel design of extensible continuum robots in light of origami-
inspired folding techniques. The design starts from a modularized crease pattern, which …

There is a surge of research interest in the field of “continuum robotics.” Robots created
under this paradigm offer many advantages and represent unique features in terms of …

We present a model for the steering of programmable bevel-tip needles, along with a set of
experiments demonstrating the three-dimensional steering performance of a new, clinically …

In this paper, an automatic planner for minimally invasive neurosurgery is presented. The
solution provides the neurosurgeon with the best path to connect a user-defined entry point …

Steerable needles are a promising technology for minimally invasive surgery, as they can
provide access to difficult to reach locations while avoiding delicate anatomical regions …

Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical
obstacles and reach clinically significant targets inside the human body. Automating …

Needle steering systems have shown potential advantages in minimally invasive surgery in
soft-tissue due to their ability to reach deep-seated targets while avoiding obstacles. In …

This paper presents a recent study on robotic control of a continuum manipulator. In view of
nonlinear dynamic characteristics of its model, we propose a fuzzy logic controller that is …

This dissertation describes design, modeling and application of continuum robotics for
surgical applications, specifically parallel continuum robots (PCRs) and concentric tube …