This paper describes and discusses the history and state of the art of continuous backbone
robot manipulators. Also known as continuum manipulators, these robots, which resemble …

Methods and systems are described for controlling movement of a continuum robot that
includes a plurality of independently controlled segments along the length of the continuum …

An endoscope captures images of a Surgical site for display in a viewing area of a monitor.
When a tool is outside the viewing area, a GUI indicates the position of the tool by …

A medical robotic system includes articulated instruments extending out of a distal end of an
entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the …

In one embodiment of the invention, a method for a mini mally invasive surgical system is
disclosed. The method includes capturing and displaying camera images of a sur gical site …

In this paper we present the clinical motivation, design specifications, kinematics, statics,
and actuation compensation for a newly constructed telerobotic system for Minimally …

(57) ABSTRACT A medical robotic system includes an entry guide with surgical tools and a
camera extending out of its distal end. To supplement the view provided by an image …

This paper presents the theoretical analysis and the experimental validation of the force
sensing capabilities of continuum robots. These robots employ superelastic NiTi backbones …

In a coupled control mode, the Surgeon directly controls movement of an associated slave
manipulator with an input device while indirectly controlling movement of one or more non …

This paper presents a novel and unified analytic formulation for kinematics, statics, and
shape restoration of multiple-backbone continuum robots. These robots achieve actuation …