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Active cannulas, so named because of their potential medical applications , are a new class of continuum robots consisting of precurved, telescoping, elastic tubes. As individual component tubes are actuated at the base relative to one another, an active cannula changes shape to minimize stored elastic energy. For the first time, we derive the differential(More)
— Traditionally, visual servoing is separated into tracking and control subsystems. This separation, though convenient , is not necessarily well justified. When tracking and control strategies are designed independently, it is not clear how to optimize them to achieve a certain task. In this work, we propose a framework in which spatial sampling kernels –(More)
— Needle insertions serve a critical role in a wide variety of medical interventions. Steerable needles provide a means by which to enhance existing percutaneous procedures and afford the development of entirely new ones. Here, we present a new time-varying model for the torsional dynamics of a steerable needle, along with a new controller that takes(More)
Needle insertions underlie a diversity of medical interventions. Steerable needles provide a means by which to enhance existing needle-based interventions and facilitate new ones. Tip-steerable needles follow a curved path and can be steered by twisting the needle base during insertion, but this twisting excites torsional dynamics that introduce a(More)
While techniques exist for the rapid prototyping of mechanical and electrical components separately, this paper describes a method where commercial Additive Manufacturing (AM) techniques can be used to concurrently construct the mechanical structure and electronic circuits in a robotic or mechatronic system. The technique involves printing hollow channels(More)
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