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 …
Research
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 …
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. …
Wireless Sensors
The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are numerous situations, in particular for …
Compact Continuum Robots
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 …
SLAM-Based Deployment
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 …
Follow-the-Leader Deployment
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 deployment in …