Continuum Robots for Surgical Systems

In CROSS we were leveraging concentric tube continuum robots in surgical systems. Our research focused on computational design optimization, motion planning algorithms as well as system design and human robot interaction. Potential medical applications include endonasal skull base surgery, transurethral kidney stone removal, and transcranial hemorrhage treatment.


  • Emmy Noether Independent Junior Research Group, Award No. BU2935/1-1, German Research Foundation, 2013-2019


Controlling Concentric Tube Robots while Enforcing Shape Constraints

Sven Lilge, Jessica Burgner-Kahrs

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019.

Computer-assisted planning for a concentric tube robotic system in neurosurgery

Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs

International Journal of Computer Assisted Radiology and Surgery, 14 (2), pp. 335–344, 2019.

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

David Black, Sven Lilge, Carolin Fellmann, Anke V Reinschluessel, Lars Kreuer, Arya Nabavi, Horst K Hahn, Ron Kikinis, Jessica Burgner-Kahrs

Journal of Medical Robotics Research, 4 (2), pp. 1950004, 2019.

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Andrey V Kudryavtsev, Mohamed Taha Chikhaoui, Aleksandr Liadov, Patrick Rougeot, Fabien Spindler, Kanty Rabenorosoa, Jessica Burgner-Kahrs, Brahim Tamadazte, Nicolas Andreff

IEEE Robotics & Automation Letters, 3 (3), pp. 2315-2321, 2018.

Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model

D T Friedrich, V Modes, T K Hoffmann, J Greve, P J Schuler, J Burgner-Kahrs

International Journal of Medical Robotics and Computer Assisted Surgery, 14 (5), pp. e1928 (7pages), 2018.

Towards Concentric Tube Robots for Microsurgery - First Results in Eye-to-hand Visual Servoing

Vincent Modes, Sontje Ihler, Arya Nabavi, Tobias Ortmaier, Lüder A Kahrs, Jessica Burgner-Kahrs

The Hamlyn Symposium on Medical Robotics, pp. 77–78, 2018.

Toward Computer-Assisted Planning for Interstitial Laser Ablation of Malignant Brain Tumors Using a Tubular Continuum Robot

Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs

Medical Image Computing and Computer-Assisted Intervention - MICCAI 2017; 20th International Conference, Proceedings, Part II, pp. 557–565, 2017.

Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation

Josephine Granna, Yi Guo, Kyle D Weaver, Jessica Burgner-Kahrs

Journal of Medical Robotics Research, 2 (1), pp. 1750004 (9 pages), 2017.

Toward automated cochlear implant insertion using tubular manipulators

Josephine Granna, Thomas S Rau, Thien-Dang Nguyen, Thomas Lenarz, Omid Majdani, Jessica Burgner-Kahrs

Proceedings of SPIE 9786, Medical Imaging, pp. 97861F-1–8, 2016.

A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation

Josephine Granna, Isuru S Godage, Raul Wirz, Kyle D Weaver, Robert J Webster III, Jessica Burgner-Kahrs

IEEE Robotics and Automation Letters, 1 (2), pp. 876–883, 2016.

Initial Feasibility Study for Transurethral Kidney Surgery using a Tubular Continuum Manipulator

Malte Bormann, Josephine Granna, Florian Imkamp, Jessica Burgner-Kahrs

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 81–86, 2016.

Robotic Intracerebral Hemorrhage Evacuation -- An In-Scanner Approach with Concentric Tube Robots

Isuru Godage, Andria A Remirez, Raul Wirz, Kyle D Weaver, Jessica Burgner-Kahrs, Robert J Webster III

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1447-1452, 2015.

Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks

Carolin Fellmann, Daryoush Kashi, Jessica Burgner-Kahrs

Proceedings of SPIE 9415, Medical Imaging, pp. 94151O (9), 2015.

Additive Manufacturing of Patient-Specific Tubular Continuum Manipulators

Ernar Amanov, Thien-Dang Ngyuen, Jessica Burgner-Kahrs

Proceedings of SPIE 9415, Medical Imaging, pp. 94151P, 2015.

A Telerobotic System for Transnasal Surgery

Jessica Burgner, Caleb D Rucker, Hunter B Gilbert, Philip J Swaney, Paul T Russell, Kyle D Weaver, Robert J Webster III

IEEE/ASME Transactions on Mechatronics, 19 (3), pp. 996–1006, 2014.

Debulking from within -- A robotic steerable cannula for intracerebral hemorrhage evacuation.

Jessica Burgner, Philip J Swaney, Ray A Lathrop, Kyle D Weaver, Robert J Webster III

IEEE Transactions on Biomedical Engineering, 60 (9), pp. 2567–2575, 2013.