The robotics community has seen an exponential growth in the level of complexity of the
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …

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 …

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

Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a
traditional serial robot, they have more degrees of freedom and can deform their flexible …

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 …

Classic theories in nonlinear elasticity have increasingly been used to obtain accurate and
efficient models for continuum robots and other elastic structures. Numerically computed …

Existing static and kinematic models of concentric tube robots are based on the ordinary
differential equations of a static Cosserat rod. In this article, we provide the first dynamic …

Concentric-tube robots for minimally invasive surgery pose a potential risk of tissue rupture
because of the structural instabilities caused by high value of bending-to-torsional-stiffness …