This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines a …
All interactions of objects, humans, and machines with the physical world are via contact forces. For instance, objects placed on a table exert their gravitational forces, and the …
Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple …
In medical applications, sensing forces along surgical tools is of high importance in order to avoid collateral damage of tissue and surrounding structures. However, the space …
Overview The standard-of-care involves a range of affordable, manual, hand-held rigid tools, with limited dexterity. In contrast, roboticized tools with increased accessibility and …
Minimally invasive surgery is of high interest for interventional medicine since the smaller incisions can lead to less pain and faster recovery for patients. The current …
Overview The planning of continuum robots is generally based on the patient’s anatomy using pre-operative images. However, their practical deployment can be challenging. Open-loop …
Concentric tube robots are continuum robots particularly well-suited for minimally-invasive surgery. Their small diameter, natural free channel and snake-like shape unlock the …
Overview The particular architecture of concentric tube robots leads to lateral motions of their bodis while their tips are controlled. Such behavior can be undesired for …
Concentric tube robots (CTRs) have a great potential for use in medical applications. Coupled with a follow-the-leader (FTL) deployment, they allow navigation in constrained …