49 citations · 52 across the 5 of their papers we have counts for
7 papers · 1 filter
Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation
Neel Shihora, Rashid M. Yasin, Ryan Walsh +1
Cricothyrotomy is a life-saving emergency intervention that secures an alternate airway route after a neck injury or obstruction. The procedure starts with identifying the correct…
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined s…
Solving Cosserat Rod Models via Collocation and the Magnus Expansion
Andrew L. Orekhov, Nabil Simaan
Choosing a kinematic model for a continuum robot typically involves making a tradeoff between accuracy and computational complexity. One common modeling approach is to use the Coss…
Modal-based Kinematics and Contact Detection of Soft Robots
Yue Chen, Long Wang, Kevin Galloway +3
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable comp…
Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries
Andrew L. Orekhov, Colette Abah, Nabil Simaan
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a grad…
Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration
Long Wang, Giuseppe Del Giudice, Nabil Simaan
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities…