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cs.RO2026
Moving Beyond Compliance in Soft-Robotic Catheters Through Modularity for Precision Therapies
B. Calmé, N. J. Greenidge, A. Metcalf +7
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-tim…
cs.RO2024
External Steering of Vine Robots via Magnetic Actuation
Nam Gyun Kim, Nikita J. Greenidge, Joshua Davy +4
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots…
cs.RO2023
Computational Design of Magnetic Soft Shape-Forming Catheters using the Material Point Method
Joshua Davy, Peter Lloyd, James H. Chandler +1
Magnetic Soft Catheters (MSCs) are capable of miniaturization due to the use of an external magnetic field for actuation. Through careful design of the magnetic elements within the…