23 citations · 48 across the 4 of their papers we have counts for
4 papers
A General Lie-Group Framework for Continuum Soft Robot Modeling
Lingxiao Xun, Benoît Rosa, Jérôme Szewczyk +1
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(…
Design and Experimental Validation of an Active Catheter for Endovascular Navigation
Thibault Couture, Jérome Szewczyk
Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically availab…
Understanding Soft-Tissue Behavior for Application to Microlaparoscopic Surface Scan
M. Erden, B. Rosa, J. Szewczyk +1
This paper presents an approach for understanding the soft tissue behavior in surface contact with a probe scanning the tissue. The application domain is confocal microlaparoscopy,…
Mechanical design of a distal scanner for confocal microlaparoscope: A conic solution
Mustafa Suphi Erden, Benoît Rosa, Jérome Szewczyk +1
This paper presents the mechanical design of a distal scanner to perform a spiral scan for mosaic-imaging with a confocal microlaparoscope. First, it is demonstrated with ex vivo e…