Robotics is a forward-looking discipline. Attention is focused on identifying the next grand
challenges. In an applied field such as medical robotics, however, it is important to plan the …

With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …

In this paper, a practical control law is proposed for wheeled mobile robots in order to both
improve the transient performance and repress the tracking errors. In particular, a two time …

Bioinspired robotic structures comprising soft actuation units have attracted increasing
research interest. Taking advantage of its inherent compliance, soft robots can assure safe …

Minimally invasive neurosurgery does not require large incisions and openings in the skull
to access the desired brain region, which often results in a faster recovery with fewer …

Alignment errors can arise during needle tip placement in deep-seated tissue structures.
This can lead to undesired diagnostic and therapeutic outcomes. Path correction by means …

Steerable needles have the potential to improve the effectiveness of needle-based clinical
procedures such as biopsy and drug delivery by improving targeting accuracy and reaching …

Needle insertion is commonly performed in minimally invasive medical procedures such as
biopsy and radiation cancer treatment. During such procedures, accurate needle tip …

Needle insertion procedures are commonly used for diagnostic and therapeutic purposes. In
this paper, an image-guided control system is developed to robotically steer flexible needles …

ABSTRACT A viper injecting venom into a target, a mantis shrimp harpooning a fish, a
cactus dispersing itself via spines attaching to passing mammals; all these are examples of …