Recently, flexible robotic systems are developed to enhance minimally invasive
interventions on internal organs located in confined areas of human body. These surgical …

Background In recent years, surgical robots have become an indispensable part of the
medical field. Surgical robots are increasingly being used in the areas of gynaecological …

In this paper, we describe the state of the art in continuum robot manipulators and systems
intended for application to interventional medicine. Inspired by biological trunks, tentacles …

This paper proposes a force/torque sensor structure that can be easily integrated into a
flexible manipulator structure. The sensor's ring-like structure with its hollow inner section …

This paper presents a real-time control framework for a snake robot with hyper-kinematic
redundancy under dynamic active constraints for minimally invasive surgery. A proximity …

Steerable catheters, as one type of continuum robot, has been popularly used to reach
targets to treat atrial fibrillation. Its tip orientation relative to the surface normal of anatomy …

Retinal surgery is one of the most technically challenging surgical disciplines. Many robotic
systems have been developed to enhance the surgical capabilities. However, very few of …

In this study, a cable-driven snake-like manipulator with high load capacity and end-
positioning accuracy is designed for applications in complex and narrow environments. The …

Design of continuum robots, ie robots with continuous backbones, has been an active area
of research in robotics for minimally invasive surgery, search and rescue, object …

Surgical robots with variable stiffness can provide more stable configurations during
minimally-invasive surgery. This letter presents a new design of modular lockable …