Recent technological advances in surgery have resulted in the development of a range of
new techniques that have reduced patient trauma, shortened hospitalization, and improved …

The trend of achieving minimal invasiveness in surgeries and recent technological
advances in robotics have resulted in the emergence of flexible surgical robots. Such …

In this paper, we describe the state of the art in continuum robot manipulators and systems
intended for application to interventional medicine. Inspired by biological trunks, tentacles …

Methods and systems are described for controlling movement of a continuum robot that
includes a plurality of independently controlled segments along the length of the continuum …

This paper introduces a novel, bioinspired manipulator for minimally invasive surgery (MIS).
The manipulator is entirely composed of soft materials, and it has been designed to provide …

This paper presents the concept design of a modular soft manipulator for minimally invasive
surgery. Unlike traditional surgical manipulators based on metallic steerable needles …

This paper presents the concept design, the fabrication and the experimental
characterization of a unit of a modular manipulator for minimal access surgery. Traditional …

Mechanics-based models of concentric tube continuum robots have recently achieved a
level of sophistication that makes it possible to begin to apply these robots to a variety of real …

Parallel continuum robots (PCRs) combine the compactness, simplicity, and compliance of
continuum robots with the precision and strength of rigid-link parallel robots. In this paper …

Single port access surgery (SPAS) presents surgeons with added challenges that require
new surgical tools and surgical assistance systems with unique capabilities. To address …