Concentric tube robots consist of nested sets of pre-curved elastic tubes that bend and
deform one another when they are translated and rotated with respect to each other …

Lung cancer is the most deadly form of cancer in part because of the challenges associated
with accessing nodules for diagnosis and therapy. Transoral access is preferred to …

Metallic tools such as graspers, forceps, spatulas, and clamps have been used in proximity
to delicate neurological tissue and the risk of damage to this tissue is a primary concern for …

Lung cancer is the most deadly form of cancer, and survival depends on early-stage
diagnosis and treatment. Transoral access is preferable to traditional between-the-ribs …

Due to their small size and ability to follow nonlinear paths, concentric tube continuum
robots might offer new opportunities for minimally invasive surgery. Currently, several …

L'utilisation de systèmes robotiques pour la navigation dans des zones confinées pose des
défis intéressants sur les thèmes de conception, de modélisation et de commande …

The central objective of this dissertation is to use mechanics and geometry to inform the
design of novel, less invasive, surgical robots and tools. In the human body, there are …