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We describe transnasal skull base surgery, including the current clinical procedure and the ways in which a robotic system has the potential to enhance the current standard of care. The available workspace is characterized by segmenting medical images and reconstructing the available 3D geometry. We then describe thin, “tentacle-like” robotic(More)
Tendons are a widely used actuation strategy for continuum robots that enable forces and moments to be transmitted along the robot from base-mounted actuators. Most prior robots have used tendons routed in straight paths along the robot. However, routing tendons through general curved paths within the robot offers potential advantages in reshaping the(More)
Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical needles. Recent mechanics-based models of these “active cannulas” are able to accurately describe the curve of the robot in free space, given the preformed tube curves and the linear and(More)
Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these robots to a variety of real-world clinical scenarios. Endonasal skull base surgery is one such application, where their small diameter and tentacle like dexterity are particularly advantageous. In this(More)
Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one would be hard pressed to find a major medical robotics forum that does not include several presentations on them. Indeed, we now stand at a noteworthy moment in the history of these robots. The recent maturation of foundational models has created new opportunities(More)
Kinematic models that account for deformation due to applied loads have recently been developed for a variety of continuum robots. In these cases, a set of nonlinear differential equations with boundary conditions must often be solved to obtain the robot shape. Thus, computing manipulator Jacobians and compliance matrices efficiently is not straightforward.(More)
Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory(More)
The inherent flexibility of continuum robots allows them to interact with objects in a safe and compliant way. This flexibility also makes it possible to use robot deflection to estimate external forces applied to the robot. This “intrinsic force sensing” concept is particularly useful for thin continuum robots where application constraints(More)
In this paper, we investigate continuum manipulators that are analogous to conventional rigid-link parallel robot designs. These “parallel continuum manipulators” have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability, and strength of rigid-link parallel robots,(More)
Robots consisting of several concentric, preshaped, elastic tubes can work dexterously in narrow, constrained, and/or winding spaces, as are commonly found in minimally invasive surgery. Previous models of these "active cannulas" assume piecewise constant precurvature of component tubes and neglect torsion in curved sections of the device. In this paper we(More)