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 …

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

In endoscopic submucosal dissection (ESD), the gastrointestinal (GI) tract warrants the
surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses …

Lung cancer is one of the deadliest forms of cancers and is often diagnosed by performing
biopsies with the use of a bronchoscope. However, this diagnostic procedure is limited in …

Over the past 10 years, minimally invasive surgery (MIS) has shown significant benefits
compared to conventional surgical techniques, with reduced trauma, shorter hospital stays …

While interest in soft robotics as surgical tools has grown due to their inherently safe
interactions with the body, their feasibility is limited in the amount of force that can be …

Soft and continuum robots are transforming medical interventions thanks to their flexibility,
miniaturization, and multidirectional movement abilities. Although flexibility enables …

Medical concentric tubes have recently been designed using auxetic structures with
negative Poisson's ratios to reduce undesirable snapping instability and improve …

Accurate needle targeting is critical for many clinical procedures, such as transcutaneous
biopsy or radiofrequency ablation of tumors. However, targeting errors may arise, limiting the …

Concentric tube robot (CTR) has gradually attracted the attention of researchers on the basis
of its small size and curved shape control ability. However, most of current experimental …