Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to
perform manipulation task under the specific drive mode inspired by the soft tissue. It is …

Soft and continuum robots are transforming medical interventions thanks to their flexibility,
miniaturization, and multidirectional movement abilities. Although flexibility enables …

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 …

This article presents the development and experimental evaluation of a redundant robotic
system for the less-invasive treatment of osteolysis (bone degradation) behind the …

This article presents a novel force sensor to detect the distal force of tendon-sheath
mechanisms (TSMs) in flexible endoscopic surgical robots. We propose to measure the …

This article presents a dexterous robotic system for autonomous debridement of osteolytic
bone lesions in confined spaces. The proposed system is distinguished from the state-of-the …

Endovascular and endoscopic surgical procedures require micro-scale and meso-scale
continuum robotic tools to navigate complex anatomical structures. In numerous studies …

In conventional core decompression of osteonecrosis, surgeons cannot successfully reach
the whole area of the femoral head due to rigidity of the instruments currently used. To …

In vitreoretinal surgery, membrane peeling is a prototypical task where a layer of fibrous
tissue is delaminated off the retina with a micro-forceps by applying very fine forces that are …

Although tendon-driven continuum manipulators have been extensively researched, how to
realize tip contact force sensing in a more general and efficient way without increasing the …