Catheter tracking has become an integral part of interventional radiology. Over the last
decades, researchers have significantly contributed to theoretical and technical catheter …

Increased demand for less invasive procedures has accelerated the adoption of Intraluminal
Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and …

The development of flexible and soft robots generates new needs in terms of
instrumentation, as large encountered deformations require highly stretchable strain …

Continuum robots such as robotic catheters are increasingly being used in minimally
invasive surgery. Compliance contributes to enhanced safety during eg catheter insertion …

In recent times, soft manipulators have gardened immense interest given their dexterous
abilities. A critical aspect for their feedback control involves the reconstruction of the …

The shape information is the key to realize real-time, accurate, and effective control of
continuum robots. Traditional image processing method and start-to-end-point fitting method …

Soft continuum robots are compliant mechanisms that rely on a deformable structure in order
to achieve a desired posture. One of the challenges in designing and controlling this type of …

Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely
used in numerous surgical applications. One of the complications associated with using soft …

Continuum manipulators can improve spatial adaptability and operational flexibility in
constrained environments by endowing them with contraction and extension capabilities …

A minimally-invasive manipulator characterized by hyper-redundant kinematics and
embedded sensing modules is presented in this work. The bending angles (tilt and pan) of …