CTR Design Optimization
Overview 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 …
Compact Continuum Robots
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 …
Follow-the-Leader Deployment
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 …
SLAM-Based Deployment
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 …