Nowadays, the use of robotic systems for inspection and maintenance is gaining importance
due to the number of scenarios in which robots can operate. Indeed, robotic systems provide …

This article presents the development and experimental evaluation of a redundant robotic
system for the less-invasive treatment of osteolysis (bone degradation) behind the …

The past four decades have seen an increase in the incidence of early-onset gastrointestinal
cancer. Because early-stage cancer detection is vital to reduce mortality rate, mass …

This article presents a dexterous robotic system for autonomous debridement of osteolytic
bone lesions in confined spaces. The proposed system is distinguished from the state-of-the …

Soft magnetic manipulators offer the prospect of improved surgical outcomes through their
potential for miniaturization and inherently safe tissue interaction. However, independent …

Fluidic soft robots have the advantages of inherent compliance and adaptability, but they are
significantly restricted by complex control systems and bulky power devices, including fluidic …

We present an image-based navigation solution for a surgical robotic system with a
Continuum Manipulator (CM). Our navigation system uses only fluoroscopic images from a …

Flexible, continuum-type robots can access narrow spaces in debris areas during search-
and-rescue missions. However, their current problem is the lifting capability of the head …

Flexible continuum robots have considerable potential for use in exploring intricate spaces,
and their ability to make large body shape deformations can increase the inspection area …

Performance evaluation and inverse kinematics (IK) for continuum robots are always hard
and time-consuming. In this paper, an efficient dexterity evaluation algorithm based on IK …