Motion planning is a fundamental research area in robotics. Sampling-based methods offer
an efficient solution for what is otherwise a rather challenging dilemma of path planning …

Alignment errors can arise during needle tip placement in deep-seated tissue structures.
This can lead to undesired diagnostic and therapeutic outcomes. Path correction by means …

Sampling-based algorithms such as the Rapidly-exploring Random Tree (RRT) have been
recently proposed as an effective approach to computationally hard motion planning …

The tip asymmetry of a bevel-tip needle results in the needle naturally bending when it is
inserted into soft tissue. This enables robotic needle steering, which can be used in medical …

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

Autonomous surgery involves having surgical tasks performed by a robot operating under its
own will, with partial or no human involvement. There are several important advantages of …

Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and
scientific studies, and is considered to be one of the simplest and most minimally invasive …

Minimally invasive neurosurgery does not require large incisions and openings in the skull
to access the desired brain region, which often results in a faster recovery with fewer …

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 …

In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been
one of the most successful approaches yet proposed. However, the price to be paid for …