Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one
would be hard pressed to find a major medical robotics forum that does not include several …

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 …

This paper explores a new hybrid actuation principle combining pneumatic and tendon-
driven actuators for a soft robotic manipulator. The fusion of these two actuation principles …

BACKGROUND Image-guided percutaneous biopsy is a common procedure in oncology,
integral to confirming the diagnosis of cancer, staging the disease, and determining tumor …

Purpose of the review Robotics is a rapidly advancing field, and its introduction in healthcare
can have a multitude of benefits for clinical practice. Especially, applications depending on …

A minimally invasive system comprises an elongate instrument that includes a flexible
proximal portion, a rigid distal portion, and a lumen extending from a proximal end to a distal …

High accuracy and precision in reaching target locations inside the human body is
necessary for the success of percutaneous procedures, such as tissue sample removal …

Accurate needle targeting is critical for many clinical procedures, such as transcutaneous
biopsy or radiofrequency ablation of tumors. However, targeting errors may arise, limiting the …

Purpose In this paper, we present a system capable of automatically steering bevel tip
flexible needles under ultrasound guidance toward stationary and moving targets in gelatin …

Purpose Accurate and precise needle placement is of utmost importance in interventional
radiology. However, targeting can be challenging due to, eg, tissue motion and deformation …