Publications

This paper presents a multi-purpose gripping and incision tool-set to reduce the number of required manipulators for targeted …

Continuum surgical robots can navigate anatom-ical pathways to reach pathological locations deep inside thehuman body. …

Continuum robots can traverse anatomical pathways to intervene at regions deep inside the human body. They are able to steer along 3D …

In this paper, we design and develop a novel robotic bronchoscope for sampling of the distal lung in mechanically-ventilated (MV) …

This paper presents a medical robotic system for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). …

This article presents a model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs). …

Concentric tube robots (CTR) can traverse tightly curved paths and offer dexterity in constrained environments, making them …

While continuum robots have been studied for a variety of surgical applications (e.g., heart, lung, brain, eye, kidney), no existing …

This article presents a model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs). …

Continuum robots allow accessing surgical targets deepinside the human body by steering along 3D curves inconfined spaces. Further, …

Recent successes of missions, such as the Rosetta, have increased the interest in the robotic exploration of other planets and …

An important phase in On-Orbit servicing missions is robotic docking. Successful docking is subject to a number of parameters and …

On-orbit servicing missions will rely on space robots; however their complexity requires prior careful studies. Among these, robotic …

Space debris removal and mitigation using space robots are complex missions, which require extensive analysis prior to launch. An …