ICRA
2010
IEEE
13 years 8 months ago
2010
IEEE
This paper presents the task specifications for designing a novel Insertable Robotic Effectors Platform (IREP) with integrated stereo vision and surgical intervention tools for Sin...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
— Shape control of continuum robots requires a means of sensing the the curved shape of the robot. Since continuum robots are deformable, they take on shapes that are general cur...
ICRA
2010
IEEE
13 years 10 months ago
2010
IEEE
Abstract— Continuum robots made from telescoping precurved elastic tubes enable base-mounted actuators to specify the curved shapes of robots as thin as standard surgical needles...
ICRA
2005
IEEE
14 years 5 months ago
2005
IEEE
– We introduce a new method for synthesizing kinematics and Jacobian relationships for an important class of continuous backbone “continuum” robots. The resulting Jacobians e...
ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
Abstract - This paper introduces new analyses and algorithms which are essential for the practical implementation of continuous backbone continuum robots. Actuator length limits st...
IROS
2009
IEEE
14 years 6 months ago
2009
IEEE
—This paper presents a novel design and preliminary kinematic analysis of an Insertable Robotic Effector Platform (IREP) for Single Port Access (SPA) Surgery. The IREP robot can ...