A Miniaturized Everting Robot with a Large Working Channel for Ureteroscopy Using Twisted Tail Pushing
Cédric Girerd
CNRS Researcher
I am a CNRS Researcher in Robotics. I work in the DEXTER Team in the Robotics Department at LIRMM in Montpellier, France. I obtained a PhD from Strasbourg University in 2018 in Robotics, and was a Postdoctoral Scholar in the Morimoto Lab at the University of California San Diego from 2019 to 2022. Since 2023, I am an Associate Editor for the IEEE RoboSoft Conference.
A Concentric Multi-Backbone Robot for Transaortic Mitral Valve Access
Mitral Valve Replacement (MVR) remains invasive, as both transapical and transseptal approaches require myocardial or septal puncture, which may result in bleeding and structural …
Helical and Planar Continuum Robot Shapes by Structural Tube Modifications and Backbone Length Control
Navigating tortuous anatomical pathways, such as the aortic arch, requires continuum robots capable of complex three-dimensional deformations. Existing designs are often limited to …
Vine Growing Robots
A new subclass of soft robot, known as tip-extending or “vine” robots, consists of long inflatable devices that move through the environment by extending from the tip. A key …
Multi-backbone Continuum Robots
Navigating tortuous anatomical pathways, such as the aortic arch, requires continuum robots capable of complex three-dimensional deformations. Existing designs are often limited to …
Tip-Growing Robots: Design, Theory, Application
Growing robots apically extend through material eversion or deposition at their tip. This endows them with unique capabilities such as follow the leader navigation, long-reach, …
shamsa-al-harthy
Tip-Growing Robots
This web page is a resource on tip-growing robots that have been proposed to date in the literature. It will be kept up-to-date on a regular basis. If you are making use of this …
InchIGRAB: An Inchworm-Inspired Guided Retraction and Bending Device for Vine Robots During Colonoscopy
Vine robots are soft robots that translate by everting, or growing, from their tips. This mechanism of translation minimizes the application of shear forces on the environment, …
ayush-giri
CTR Design Optimization
Concentric tube robots have a large number of design variables, which is often reduced in order for design optimization problems to be tractable by gradient-free approaches. …
Tendon-Driven vs Rod-Driven Continuum Robots: A Bench Test Evaluation