Continuum robots provide inherent structural compliance with high dexterity to access the
surgical target sites along tortuous anatomical paths under constrained environments and …

Endovascular techniques have been embraced as a minimally-invasive treatment approach
within different disciplines of interventional radiology and cardiology. The current practice of …

In this review paper, we are interested in the models and algorithms that allow generic
simulation and control of a soft robot. First, we start with a quick overview of modeling …

This article provides a tutorial on the dynamic modeling of continuum robots. Continuum
robots (CRs) have gained popularity in recent years due to their flexible backbone structure …

Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …

OpenAI Gym is one of the standard interfaces used to train Reinforcement Learning (RL)
Algorithms. The Simulation Open Framework Architecture (SOFA) is a physics-based engine …

Continuum robots (CRs) hold great potential for many medical and industrial applications
where compliant interaction within the potentially confined environment is required …

The development of miniaturized continuum robots has a wide range of applications in
minimally invasive endoluminal interventions. To navigate inside tortuous lumens without …

Vascular interventional doctors are exposed to radiation hazards during surgery and endure
high work intensity. Remote vascular interventional surgery robotics is a hot research field …

The complex, deformable, and dynamic cardiovascular system makes precise control of
flexible medical instruments a challenging task. An innovative robot-assisted catheterization …