Continuum robots are not constructed with discrete joints but, instead, change shape and
position their tip by flexing along their entire length. Their narrow curvilinear shape makes …

Medical robotics is an interdisciplinary field that came into existence to improve medical
procedures utilizing robotics technology. Medical robotics range from minimally invasive …

This article introduces the analysis and control of a meso-scale two degree-of-freedom
robotic endoscopic tool body for minimally invasive surgeries. The design of the robotic tool …

Concentric push–pull robots (CPPR) operate through the mechanical interactions of
concentrically nested, laser-cut tubes with offset stiffness centers. The distal tips of the tubes …

Continuum and soft robots can positively impact diverse sectors, from biomedical
applications to marine and space exploration, thanks to their potential to adaptively interact …

Continuum manipulators with flexibility and compliant characteristics have attracted the
attention of more and more researchers due to its wide application prospect. This paper …

Choosing a kinematic model for a continuum robot typically involves making a tradeoff
between accuracy and computational complexity. One common modeling approach is to use …

This article presents a novel continuum robot sheath for use in single-port minimally invasive
procedures such as neuroendoscopy in which the sheath is designed to deliver multiple …

Surgical robots with variable stiffness can provide more stable configurations during
minimally-invasive surgery. This letter presents a new design of modular lockable …

Multi-arm wire-driven continuum robots can provide dexterous maneuvers during minimally
invasive surgeries (MISs). To ensure safety during MIS, it is critical to obtain feedback …