J Kim, M de Mathelin, K Ikuta… - Proceedings of the …, 2022 - ieeexplore.ieee.org
The trend of achieving minimal invasiveness in surgeries and recent technological advances in robotics have resulted in the emergence of flexible surgical robots. Such …
HM Le, TN Do, SJ Phee - Sensors and Actuators A: Physical, 2016 - Elsevier
Robot-assisted surgeries have been integrated and leading to a paradigm shift in surgical fields. With the emergence of Minimally Invasive Surgery (MIS), especially Natural Orifice …
V Falkenhahn, A Hildebrandt… - IEEE/ASME …, 2016 - ieeexplore.ieee.org
In the previous decade, multiple approaches for kinematic controllers of continuum manipulators were successfully developed. However, for fast and exact motions of …
This article presents a modeling methodology and experimental validation for soft manipulators to obtain forward kinematic model (FKM) and inverse kinematic model (IKM) …
L Zorn, F Nageotte, P Zanne, A Legner… - IEEE Transactions …, 2017 - ieeexplore.ieee.org
Objective: Minimally invasive surgical interventions in the gastrointestinal tract, such as endoscopic submucosal dissection (ESD), are very difficult for surgeons when performed …
This chapter provides an overview of the state of the art of snake-like (backbones comprised of many small links) and continuum (continuous backbone) robots. The history of each of …
This article presents the conception, the numerical modeling, and the control of a dexterous, deformable manipulator bio-inspired by the skeletal spine found in vertebrate animals …
In this paper we present a prototype integrated robotic system, the I-Support bathing robot, that aims at supporting new aspects of assisted daily-living activities on a real-life scenario …
Flexible minimally invasive surgical instruments can be used to target difficult-to-reach locations within the human body. Accurately steering these instruments requires information …