Detection and tracking of the trocar and RCM during eye surgery.
A co-manipulated robotic tool for vitreoretinal surgery Modeling and design considerations.
A model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs).
An approach for closed-loop steering of a redundant CTR that allows for snap-free motion and enhances its force/velocity manipulability
A quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone.