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ICRA
2005
IEEE
140views Robotics» more  ICRA 2005»
13 years 9 months ago
Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization
— This paper reports some recent analysis and modeling results obtained while developing a tele-robotic system for minimally invasive surgery of the throat. One of the main enabl...
Nabil Simaan
IROS
2006
IEEE
117views Robotics» more  IROS 2006»
13 years 9 months ago
Toward Active Cannulas: Miniature Snake-Like Surgical Robots
— We have developed a new class of continuously flexible snake-like robots, called active cannulas, that consist of several telescoping pre-curved superelastic tubes. The device...
Robert J. Webster III, Allison M. Okamura, Noah J....
ICRA
2006
IEEE
163views Robotics» more  ICRA 2006»
13 years 9 months ago
Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation
– This paper presents two actuation compensation methods for a snake-like robot implementing multi flexible backbones and actuation redundancy. This snake-like robot is designed ...
Kai Xu 0005, Nabil Simaan