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Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery

Concentric tube robots (CTRs) are well-suited to address the unique challenges of minimally invasive surgical procedures due to their small size and ability to navigate highly …

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Scalable enforcement of geometric non-interference constraints for gradient-based optimization

Many design optimization problems include constraints to prevent intersection of the geometric shape being optimized with other objects or with domain boundaries. When applying …

Ryan c. dunn
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A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization

Concentric tube robots (CTRs) show particular promise for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments. Due to …

Jui te lin
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