Keri Kim

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The concentric-tube continuum robot generates distal end motions by translating and rotating the proximal ends of pre-curved tubes that overlap concentrically. This robot does not require additional actuators along the tubes because the overall curvature and distal end position are determined solely by interactions between the inner and outer tubes.(More)
As a steerable needle or robotic manipulator, the concentric-tube robot shows good potential for use in minimally invasive medical procedures. However, the torsional deformation of the precurved tubes comes at the price of instability, which not only limits the workspace and tool path but also potentially creates danger of tissue rupture when external load(More)
We develop a kind of active cannula robot (microsurgery system) used in minimally invasive surgery. This robot mainly consists of two parts: active cannula and control unit. The active cannula is composed of two or three concentric pre-curved elastic tubes that can be translated and rotated relative to one another. Each tube is driven by a motor with a(More)
Design optimization and fabrication of concentric tube robots are time consuming because of the complexity of their workspaces and the characteristics of the superelastic materials used to make them. This paper presents a procedure for the expeditious design and fabrication of a concentric tube robot for applications that require rapid tube preparation but(More)
Neurosurgery had been considered nearly impossible due to its technical difficulty and the danger to its special target organ, but with endoscopic methods, many such surgeries can be made safely through the nose. Endoscopic neurosurgery is limited by available instruments, however, and there remain some areas of the human body inaccessible to standard(More)
Shape tracking using a fiber Bragg grating sensor is a promising tool due to its thin, flexible, and weightless nature. Conventional investigations attached optical fibers with a metal rod which limited the curvature due to its stiffness and increased distance between the center of the fiber and that of the sensor. We fabricated ultrathin flexible shape(More)
Continuum robots, new class of dexterous and thin robots, can be applied in great variety of minimal invasive surgical operations. These robots consist of two parts: manipulator, also called active cannula, and control unit. Manipulators, which are composed of concentric precurved tubes(usually 2-3), commonly made from nitinol, can enter human body through(More)
PURPOSE In endoscopic surgery, surgeons must manipulate an endoscope inside the body cavity to observe a large field-of-view while estimating the distance between surgical instruments and the affected area by reference to the size or motion of the surgical instruments in 2-D endoscopic images on a monitor. Therefore, there is a risk of the endoscope or(More)
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