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2020 Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

This article presents a model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs). State-of-the-art CTR control relies on differential kinematics developed by local linearization of the CTRs mechanics …

2020 Optic Nerve Sheath Fenestration with a Multi-Arm Continuum Robot

This paper presents a medical robotic system for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). ONSF is a currently invasive ophthalmic surgical approach that can reduce potentially blinding elevated hydrostatic …