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 …

Magnetic resonance imaging (MRI) provides high-quality soft-tissue images of anatomical
structures and radiation free imaging. The research community has focused on establishing …

Concentric tube robots can enable new clinical interventions if they are able to pass through
soft tissue, deploy along desired paths through open cavities, or travel along winding …

Stereotaxy is a neurosurgical technique that can take several hours to reach a specific
target, typically utilizing a mechanical frame and guided by preoperative imaging. An error in …

In this letter, we present an intraoperative magnetic resonance imaging (MRI)-guided robot
for bilateral stereotactic procedures. Its compact design enables robot's operation within the …

This paper reports the design, modeling, and control of an MR-compatible actuation unit
comprising pneumatic stepper mechanisms. One helix-shaped bellows and one toroid …

Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic
robots is challenging. Obtaining samples that remain superelastic and exhibit desired …

This paper presents a surgical master-slave teleoperation system for percutaneous
interventional procedures under continuous magnetic resonance imaging (MRI) guidance …

Intraoperative MRI has been increasingly used to robotically deliver electrodes and
catheters into the human brain using a linear trajectory with great clinical success. Current …

In this work, the design, analysis, and characterization of a parallel robotic motion
generation platform with 6-degrees of freedom (DoF) for magnetic resonance imaging (MRI) …