Medical robotics is an interdisciplinary field that came into existence to improve medical
procedures utilizing robotics technology. Medical robotics range from minimally invasive …

Soft continuum robot outperforms its rigid counterpart when executing in complicated
environments thanks to its high dexterity of the redundant configuration. Shape control is …

Endovascular and endoscopic surgical procedures require micro-scale and meso-scale
continuum robotic tools to navigate complex anatomical structures. In numerous studies …

Continuum manipulators contribute to promising improvements of minimally invasive
surgical procedures due to their compliance, small size, and ability to navigate anatomical …

Fiber optic shape sensing has a great potential for diverse medical and industrial
applications to measure curvatures and even shapes. Featuring small footprint, strong …

Robot-assisted minimally invasive surgery (MIS) using flexible endoscopy has emerged as a
groundbreaking technology for improving traditional surgical approaches. However, a major …

This paper presents methods for placing length sensors on a soft continuum robot joint as
well as a novel configuration estimation method that drastically minimizes configuration …

The absence of shape information can result in inaccurate localization and control of
slender, flexible surgical instruments in narrow and tortuous lumen environments. In order to …

Accurate motion control of surgical robots is critical for the efficiency and safety of both state-
of-the-art teleoperated robotic surgery and the ultimate autonomous robotic surgery …

Continuum robots have been widely used in industrial and medical environments due to
their dexterous abilities. However, the absence of robotic shape information limits their …