Concentric tube robots (CTRs) have drawn significant research attention over the years,
particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small …

The advent of telemedicine with its remote surgical procedures has effectively transformed
the working of healthcare professionals. The evolution of telemedicine facilitates the remote …

Generic and high-performance feedback control is still challenging for tendon-driven
continuum robots. Conventional model-based controllers, based on the piecewise constant …

Concentric tube robots (CTRs) are considered promising in medical applications involving
intracorporeal confined spaces, high dexterity, and 3D path following. Most CTRs are …

Combining laser technology with robotic precision and accuracy promises to introduce
significant advances in minimally invasive surgical interventions. Lasers have already …

This article presents an energy-based modeling and control design method for a piezotube
actuated optical fiber. A nonlinear infinite dimensional port Hamiltonian (pH) formulation of …

The design of a multiple-segment notched tube is distinctively appropriate for miniature
surgical robots, attributing to its superior structural compliance and the provision of a …

This paper reports the design, construction, and experimental validation of a novel hand-
held robot for inoffice laser surgery of the vocal folds. In-office endoscopic laser surgery is an …

Minimally invasive surgery within confined cavity, such as maxillary sinus surgery,
commonly requires the flexible robots with more degrees of freedom, a greater operating …

This work utilizes a Wiener process to describe a fluctuating load on a Concentric tube robot
(CTR) or its smooth motion through fixed obstacles leading to a kineto-static piecewise …