Challenges of continuum robots in clinical context: a review
With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …
of progress slowed as limits of size and controllable degrees of freedom were reached …
From theoretical work to clinical translation: Progress in concentric tube robots
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 …
human body. They are able to steer along 3D curves in confined spaces and dexterously …
Concentric tube robots for minimally invasive surgery: Current applications and future opportunities
Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …
and resulted in reduced surgical trauma and faster recovery. However, the confined …
Design and fabrication of concentric tube robots: a survey
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 …
particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small …
From teleoperation to autonomous robot-assisted microsurgery: A survey
Robot-assisted microsurgery (RAMS) has many benefits compared to traditional
microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro …
microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro …
Design and control of a hand-held concentric tube robot for minimally invasive surgery
C Girerd, TK Morimoto - IEEE Transactions on Robotics, 2020 - ieeexplore.ieee.org
Minimally invasive surgery is of high interest for interventional medicine since the smaller
incisions can lead to less pain and faster recovery for patients. The current standard-of-care …
incisions can lead to less pain and faster recovery for patients. The current standard-of-care …
Needle-like instruments for steering through solid organs: A review of the scientific and patent literature
High accuracy and precision in reaching target locations inside the human body is
necessary for the success of percutaneous procedures, such as tissue sample removal …
necessary for the success of percutaneous procedures, such as tissue sample removal …
Flexible needle steering with tethered and untethered actuation: Current states, targeting errors, challenges and opportunities
Accurate needle targeting is critical for many clinical procedures, such as transcutaneous
biopsy or radiofrequency ablation of tumors. However, targeting errors may arise, limiting the …
biopsy or radiofrequency ablation of tumors. However, targeting errors may arise, limiting the …
Rapid, reliable shape setting of superelastic nitinol for prototyping robots
HB Gilbert, RJ Webster - IEEE robotics and automation letters, 2015 - ieeexplore.ieee.org
Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic
robots is challenging. Obtaining samples that remain superelastic and exhibit desired …
robots is challenging. Obtaining samples that remain superelastic and exhibit desired …
Toward transoral peripheral lung access: Combining continuum robots and steerable needles
PJ Swaney, AW Mahoney, BI Hartley… - Journal of medical …, 2017 - World Scientific
Lung cancer is the most deadly form of cancer in part because of the challenges associated
with accessing nodules for diagnosis and therapy. Transoral access is preferred to …
with accessing nodules for diagnosis and therapy. Transoral access is preferred to …