Christopher R. Mitchell

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Concentric tube manipulators have the diameter of needles and are consequently amenable to delivery into the human body through small ports in an endo-scope. When this is done, the surgeon must manipulate both the endoscope and one or more concentric tube robots simultaneously. In this paper we explore a hand-held approach to this user interface challenge,(More)
Natural orifice endoscopic surgery can enable incisionless approaches, but a major challenge is the lack of small and dexterous instrumentation. Surgical robots have the potential to meet this need yet often disrupt the clinical workflow. Hand-held robots that combine thin manipulators and endoscopes have the potential to address this by integrating(More)
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