Emerging paradigms furthering the reach of medical technology into human anatomy
present unique modeling, control, and sensing problems. This review provides a brief history …

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

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

We present our work on develo** and testing the high-level control for a future telerobotic
system for minimally invasive surgery of the throat and upper airways. As a test-bed for these …

Virtual fixtures are control modes implemented in software that assist the user in a specific
task. This dissertation extends the concept of constraint-based virtual fixtures to dexterous …

This paper presents a model-based compensator for canceling friction in the tendon-driven
joints of a haptic-feedback teleoperator. Unlike position-tracking systems, a teleoperator …

Robots are increasingly being used in computer integrated surgery (CIS) systems, yet to our
knowledge, there is no open source software that is specifically targeted at this application …

This dissertation describes design and modeling of two new flexible, continuous backbone
robotic dexterity enhancement devices, and algorithms to robotically manipulate them in …

This paper describes the mechanical design, actuation and sensing of an exoskeleton for
hand function training after stroke. The frame is 3D-printed in one piece including the joints …

Numerous studies have demonstrated the efficacy of image-guided needle-based therapy
and biopsy in the management of prostate cancer. Magnetic resonance imaging (MRI) is an …