Background Recent advancements in continuum robotics have accentuated develo**
efficient and stable controllers to handle shape deformation and compliance. The control of …

Soft continuum arms (SCAs) that are controlled by visual servoing (VS) present trade-offs
between the camera range and tracking accuracy. Cameras placed at a distance (eye-to …

In minimally invasive surgery, endoscopes serve as the eyes of surgeon. To avoid fatigue in
manual endoscope steering, robotic endoscope holders have been developed …

Optical coherence tomography (OCT) is an interferometric technique for micron-level
imaging in biological and non-biological contexts. As a non-invasive, non-ionizing, and …

Endoscopic cameras attached to miniaturized snake-like continuum robotic arms can
improve dexterity, accessibility, and visibility in minimally invasive surgical tasks. This …

Endoscopic optical coherence tomography (OCT) has demonstrated its capability to
visualize the fine microstructures and subtle lesions inside human organs in vivo. However …

This paper presents the design and implementation of a flexible manipulator formed of
connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum …

Determining the externally-induced motion of a soft robot in minimally-invasive procedures
is highly challenging and commonly demands specific tools and dedicated sensors. Intrinsic …

The ability to track surgical instruments in realtime is crucial for autonomous Robotic
Assisted Surgery (RAS). Recently, the fusion of visual and kinematic data has been …

Flexible devices are slender objects that describe smooth three-dimensional curves and
undergo high strains. As they can be actuated, such systems are assimilated to the so-called …