Article-Journal

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 …
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Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots
A new subclass of soft robot, known as tip-extending or ``vine’’ robots, consists of long inflatable devices that move …
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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 …
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ForceSticker: Wireless, Batteryless, Thin & Flexible Force Sensors
Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as any …
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Design and Fabrication of Concentric Tube Robots: A Survey
Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in …
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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 …
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Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering
The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are …
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A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery
This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual …
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Towards a Wireless Force Sensor Based on Wave Backscattering for Medical Applications
In medical applications, sensing forces along surgical tools is of high importance in order to avoid collateral damage of tissue and …
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Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery
Minimally invasive surgery is of high interest for interventional medicine since the smaller incisions can lead to less pain and faster …
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Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery