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 …

Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits
patients in terms of improved postoperative outcomes and short recovery time. The …

Shared control is an increasingly popular approach to facilitate control and communication
between humans and intelligent machines. However, there is little consensus in guidelines …

Active constraints, also known as virtual fixtures, are high-level control algorithms which can
be used to assist a human in man-machine collaborative manipulation tasks. The active …

This paper introduces the smart tissue anastomosis robot (STAR). Currently, the STAR is a
proof-of-concept for a vision-guided robotic system featuring an actuated laparoscopic …

Suturing is required in almost all surgeries but it is challenging to perform with surgical
robots due to limited vision and/or haptic feedback. To tackle this problem, we present an …

In autonomous suturing with a surgical robot, needle shape, diameter, and path are critical
parameters that directly affect suture depth and tissue trauma. This paper presents an …

Teleoperation of bimanual robots is being used to carry out complex tasks such as surgeries
in medicine. Despite the technological advances, current interfaces are not natural to the …

Compared to open surgical techniques, laparoscopic surgical methods aim to reduce the
collateral tissue damage and hence decrease the patient recovery time. However …

The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of
complex surgical tasks such as suturing. Typically, surgeons need to manipulate non …