8 citations · 10 across the 3 of their papers we have counts for
4 papers
Anatomy-Aware Dexterity-Driven Design Optimization of Surgical Continuum Robots
Tony Qin, Peter Connor, Khoa Dang +4
Performing complex medical procedures with continuum robots requires careful selection of their geometric design parameters. The robot should have high dexterity in the specific an…
Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications
Brian Van Stratum, James Gallentine, Caleb Rucker +3
In this paper, we introduce the Soft Lamprey-Inspired Dual Environment Robot (SLIDER) and a proper modeling and optimization procedure employed to design the robot. We represent th…
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning
Michael Bentley, Caleb Rucker, Alan Kuntz
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions…
Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model
Michael Bentley, Caleb Rucker, Chakravarthy Reddy +2
Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the p…