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 …

In this survey, various concepts and methodologies developed over the past two decades for
varying and learning the impedance or admittance of robotic systems that physically interact …

Needle steering is a technology for guiding needles around sensitive internal obstacles in
minimally invasive surgery. Traditional techniques apply rotation at the base of a needle with …

Medical robotics is an interdisciplinary field that came into existence to improve medical
procedures utilizing robotics technology. Medical robotics range from minimally invasive …

Concentric Tube Robots (CTRs) are a type of continuum robot capable of manipulating
objects in restricted spaces and following smooth trajectories. CTRs are ideal instruments for …

This work presents a robotic tool with bidirectional manipulation and control capabilities for
targeted prostate biopsy interventions. Targeted prostate biopsy is an effective image …

The enhanced dexterity and manipulability offered by continuum manipulators makes them
the robots of choice for complex procedures inside the human body. However, without …

Flexible endoscopy and catheterization typically involve inserting a flexible shaft into a
curved channel. Understanding the mechanics involved in the insertion process is crucial for …

In this paper, a 3D automated needle steering system is presented that can enhance the
performance of needle-based procedures. The system comprises a nonholonomic needle …

Society 5.0 envisions a human-centered society where advanced technologies seamlessly
integrate to enhance quality of life, particularly in healthcare. To advance eHealth within this …