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 …
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 …
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 …
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 …
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 …
This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the control of concentric …
Inspecting the olfactory cleft can be of high interest, as it is an open access to neurons, and thus an opportunity to collect in situ related data in a non-invasive way. Also, …