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 …

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 …

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 …

Background In recent years, surgical robots have become an indispensable part of the
medical field. Surgical robots are increasingly being used in the areas of gynaecological …

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 …

Tendon driven continuum robots are often considered to navigate through and operate in
cluttered environments. While their compliance allows them to conform safely to obstacles, it …