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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 tools with(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 angular(More)
Dexterous at small diameters, continuum robots consisting of precurved concentric tubes are well-suited for minimally invasive surgery. These active cannulas are actuated by relative translations and rotations applied at the tube bases, which create bending via elastic tube interaction. An accurate kinematic model of cannula shape is required for(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(More)
Robots consisting of several concentric, preshaped, elastic tubes can work dex-terously in narrow, constrained, and/or winding spaces, as are commonly found in minimally invasive surgery. Previous models of these 'active cannulas' assume piece-wise constant precurvature of component tubes and neglect torsion in curved sections of the device. In this paper(More)
— This paper presents a versatile magnetic resonance imaging (MRI) compatible concentric tube continuum robotic system. The system enables MR image-guided placement of a curved, steerable active cannula. It is suitable for a variety of clinical applications including image-guided neurosurgery and percutaneous interventions, along with procedures that(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)
— 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 curves in space, which are not fully defined by actuator positions. Vision-based shape-estimation provides a promising avenue for shape-sensing. While this is often facilitated by(More)
— Active cannulas are a relatively new continuum robot subclass characterized by their use of preshaped tubes that transmit bending moments as they slide within one another and are axially rotated. Previous (experimentally vetted) mechanics-based models of active cannula shape assume piece-wise constant precurvature of component tubes, and neglect torsion(More)