Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable
materials and usually follow a bioinspired design. Their high dexterity and safety make them …

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 …

Many soft robots are composed of soft fluidic actuators that are fabricated from silicone
rubbers and use hydraulic or pneumatic actuation. The strong nonlinearities and complex …

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

Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …

The steerable catheter refers to the catheter that is manipulated by a mechanism which may
be driven by operators or by actuators. The steerable catheter for minimally invasive surgery …

Bioinspired robotic structures comprising soft actuation units have attracted increasing
research interest. Taking advantage of its inherent compliance, soft robots can assure safe …

Cardiac diseases are recognized as the leading cause of mortality, hospitalization, and
medical prescription globally. The gold standard for the treatment of coronary artery stenosis …

Cardiac electrophysiology is an effective treatment for atrial fibrillation, in which a long,
steerable catheter is inserted into the heart chamber to conduct radio frequency ablation …