Continuum robots can traverse anatomical pathways to intervene in regions deep inside the
human body. They are able to steer along 3D curves in confined spaces and dexterously …

Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one
would be hard pressed to find a major medical robotics forum that does not include several …

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 …

Concentric tube robots are catheter-sized continuum robots that are well suited for minimally
invasive surgery inside confined body cavities. These robots are constructed from sets of …

Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …

Concentric tube robots can enable new clinical interventions if they are able to pass through
soft tissue, deploy along desired paths through open cavities, or travel along winding …

Concentric tube robots (CTRs) have drawn significant research attention over the years,
particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small …

In the development of telemanipulated surgical robots, a class of continuum robots known as
concentric tube robots has drawn particular interest for clinical applications in which space is …

New approaches to intracerebral hemorrhage management are motivated by its high
incidence and 40% mortality rate. Surgery is sometimes attempted to decompress the brain …

Natural orifice endoscopic surgery can enable incisionless approaches, but a major
challenge is the lack of small and dexterous instrumentation. Surgical robots have the …