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

Continuum robots are not constructed with discrete joints but, instead, change shape and
position their tip by flexing along their entire length. Their narrow curvilinear shape makes …

In this paper, we propose a new type of continuum robot, referred to as a magnetic
concentric tube robot (M-CTR), for performing minimally invasive surgery in narrow and …

This article presents a novel continuum robot sheath for use in single-port minimally invasive
procedures such as neuroendoscopy in which the sheath is designed to deliver multiple …

Robotics technology is used widely in minimally invasive surgery (MIS) which provides high
performance and accuracy. The most famous robot arm mechanisms, which are used in MIS …

Continuum surgical robots can navigate anatomical pathways to reach pathological
locations deep inside the human body. Their flexibility, however, generally comes with …

Pyramid-shaped transmission system (TS) of multiarm concentric-tube robots (CTRs) offers
advantages of convenient arrangement and collision avoidance of the actuation units …

The Cosserat rod equations are used to model continuum and soft robots. Solving these
equations are computationally expensive, particularly due to mixed boundary values and …

This paper introduces a snake-like continuum robot design intended for minimally invasive
surgery (MIS) in which a robotic sheath is designed to control an end effector with enhanced …

Tendon-driven robot (TDR) belongs to continuum robots, which is used to obtain minimal
invasive surgeries (MISs), especially, laparoscopic surgeries (LSs). There are several types …