11 citations · 18 across the 5 of their papers we have counts for
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A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
Pejman Kheradmand, Behnam Moradkhani, Raghavasimhan Sankaranarayanan +5
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They o…
Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment
Giovanni Pittiglio, Fabio Leuenberger, Margherita Mencattelli +3
This paper introduces a novel magnetic navigation system for cardiac ablation. The system is formed from two key elements: a magnetic ablation catheter consisting of a chain of sph…
Continuum Robot Shape Estimation Using Magnetic Ball Chains
Giovanni Pittiglio, Abdulhamit Donder, Pierre E. Dupont
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need fo…
Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots
Yuan Wang, Max McCandless, Abdulhamit Donder +4
The ability to accurately model mechanical hysteretic behavior in tendon-actuated continuum robots using deep learning approaches is a growing area of interest. In this paper, we i…
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder +2
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated usin…