Continuum robots have shown astounding abilities to assist surgeons reaching confined
spaces in the human body. Thus, accurate control of these manipulators, and particularly …

The versatile uses and excellent soft tissue distinction afforded by magnetic resonance
imaging (MRI) has led to the development of many MR-compatible devices for MRI-guided …

Анотація The use of robots in medicine is a promising direction of research. The possibility
of controlling a medical robot with the help of a voice is considered. We use a logical model …

Concentric Tube Robots (CTR) are becoming more and more popular in medical robotics
community. In this thesis, a general literature survey on existing works covering the research …

The research described here identifies the limitations of existing robotic surgical platforms,
which include the balance between the scale of the robot and its manipulability in terms of …

This paper describes the modeling and control of a pneumatic tele-operation scheme, where
the connection of master and slave cylinder is realized signal based but also physically via …

Purpose The application of the sliding mode control has two obstacle phenomena:
chattering and high activity of control action. The purpose of this paper concerns a novel …

Continuum robots are snake-like systems able to deliver optimal therapies to pathologies
deep inside the human cavity by following 3D complex paths. They show promise when …

The present work discusses the development and control of an antagonistic shape memory
alloy (SMA) springs actuated flexible tube manipulator (FTM) which demonstrated its …

Magnetic resonance imaging (MRI) is increasingly used intraoperatively, because it
provides excellent soft tissue distinction and on-the-fly adjustment to imaging slice …