Surgical navigation technology provides minimally invasive surgery (MIS) with the relative
pose relationships amongst medical images, surgical instruments, and lesions. On the other …

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 …

The advent of telerobotic systems has revolutionized various aspects of the industry and
human life. This technology is designed to augment human sensorimotor capabilities to …

Background Recent advancements in continuum robotics have accentuated developing
efficient and stable controllers to handle shape deformation and compliance. The control of …

Continuum manipulators have demonstrated promising potential for flexible access and
complicated operation and thus have been emerging and introduced in robot-assisted …

Visual trackers are the most commonly adopted approach for needle tip tracking in
ultrasound (US)-based procedures. However, they often perform unsatisfactorily in …

Due to their compliance, continuum robots (CRs) hold great potential for many applications.
However, despite intensive recent research, their control poses significant challenges. The …

In this paper, a full-kinematic model and a visual-servo control system for recently introduced
cooperative continuum robots (CCRs) are proposed. The focus will be on operative …

Minimally invasive surgery involves using flexible medical instruments such as endoscopes
and catheters. Magnetically actuated catheters can provide improved steering precision over …

In most cases of peripheral arterial disease (PAD), the operating surgeon must use a variety
of catheters riding on a thin wire known as aguidewire'. This guidewire must be manually …