Current trends and prospects in compliant continuum robots: A survey
Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a
traditional serial robot, they have more degrees of freedom and can deform their flexible …
traditional serial robot, they have more degrees of freedom and can deform their flexible …
[HTML][HTML] A review on machine learning in flexible surgical and interventional robots: Where we are and where we are going
Abstract Minimally Invasive Procedures (MIPs) emerged as an alternative to more invasive
surgical approaches, offering patient benefits such as smaller incisions, less pain, and …
surgical approaches, offering patient benefits such as smaller incisions, less pain, and …
Toward task autonomy in robotic cardiac ablation: Learning-based kinematic control of soft tendon-driven catheters
The goal of this study was to propose and validate a control framework with level-2
autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a …
autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a …
Laser-profiled continuum robot with integrated tension sensing for simultaneous shape and tip force estimation
A Gao, N Liu, M Shen, M EMK Abdelaziz… - Soft robotics, 2020 - liebertpub.com
The development of miniaturized continuum robots has a wide range of applications in
minimally invasive endoluminal interventions. To navigate inside tortuous lumens without …
minimally invasive endoluminal interventions. To navigate inside tortuous lumens without …
Deep-learning-based compliant motion control of a pneumatically-driven robotic catheter
In cardiovascular interventions, when steering catheters and especially robotic catheters,
great care should be paid to prevent applying too large forces on the vessel walls as this …
great care should be paid to prevent applying too large forces on the vessel walls as this …
A soft robot for peripheral lung cancer diagnosis and therapy
M McCandless, A Perry, N DiFilippo, A Carroll… - Soft …, 2022 - liebertpub.com
Lung cancer is one of the deadliest forms of cancers and is often diagnosed by performing
biopsies with the use of a bronchoscope. However, this diagnostic procedure is limited in …
biopsies with the use of a bronchoscope. However, this diagnostic procedure is limited in …
Fully soft pressure sensor based on bionic spine–pillar structure for robotics motion monitoring
J Liu, Y Yang, J Peng, H Wang, D Chen, Y Liu… - Soft …, 2022 - liebertpub.com
Soft and stretchable sensors are essential to the development of electronic skin, especially
their potential applications in health care and intelligent robots, which have increasingly …
their potential applications in health care and intelligent robots, which have increasingly …
A hybrid adaptive controller for soft robot interchangeability
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and
bionics due to their softness, flexibility, and safety. However, it is challenging to produce two …
bionics due to their softness, flexibility, and safety. However, it is challenging to produce two …
Robotic actuation and control of a catheter for structural intervention cardiology
X Zhang, MC Palumbo, F Perico… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
Structural intervention cardiology (SIC) interventions are crucial procedures for correcting
heart valves, walls, and muscle form defects. However, the possibility of embolization or …
heart valves, walls, and muscle form defects. However, the possibility of embolization or …
Sensor-free force control of tendon-driven ablation catheters through position control and contact modeling
In the present study, a sensor-free force control framework for tendon-driven steerable
catheters was proposed and validated. The hypothesis of this study was that the contact …
catheters was proposed and validated. The hypothesis of this study was that the contact …