Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to
perform manipulation task under the specific drive mode inspired by the soft tissue. It is …

This article presents the development and experimental evaluation of a redundant robotic
system for the less-invasive treatment of osteolysis (bone degradation) behind the …

This article presents a dexterous robotic system for autonomous debridement of osteolytic
bone lesions in confined spaces. The proposed system is distinguished from the state-of-the …

Sensors play an important role in measuring various physio-chemical and biological
parameters. Biomedical applications of sensors include early level diagnosis of diseases …

This letter presents the development and experimental evaluation of an active steering hand-
held robotic system for milling and curved drilling in minimally invasive orthopaedic …

Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the
curvature at discrete FBG active areas and integrating curvature over the length of the …

Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint
environments is a challenging task. The imposed constraints and interaction with unknown …

Catheterization instruments are increasingly being improved to accurately diagnose and
treat cardiovascular conditions. However, current catheter systems provide limited …

We present a constrained motion control framework for a redundant surgical system
designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a …

Purpose This paper aims to present a shape sensing method and feedback control strategy
based on fiber Bragg grating (FBG) sensor to improve the control accuracy of the robot and …