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

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 …

Robot manipulators are increasingly used in minimally invasive surgery (MIS). They are
required to have small size, wide workspace, adequate dexterity and payload ability when …

The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical
fields could become even more valuable to surgeons if endowed with the ability to navigate …

This paper presents a miniature wrist that can be integrated into needle-sized surgical
instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a …

Existing static and kinematic models of concentric tube robots are based on the ordinary
differential equations of a static Cosserat rod. In this article, we provide the first dynamic …

Tendon driven continuum robots are often considered to navigate through and operate in
cluttered environments. While their compliance allows them to conform safely to obstacles, it …

Concentric-tube robots for minimally invasive surgery pose a potential risk of tissue rupture
because of the structural instabilities caused by high value of bending-to-torsional-stiffness …

Concentric tube robots are needle-sized manipulators which have been investigated for use
in minimally invasive surgeries. It was noted early in the development of these devices that …

In this paper, we propose a new type of continuum robot, referred to as a magnetic
concentric tube robot (M-CTR), for performing minimally invasive surgery in narrow and …