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