Publications

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2021

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions

Amanov, E; Nguyen, T -D; Burgner-Kahrs, J

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions Journal Article

International Journal of Robotics Research, 40 (1), pp. 7-23, 2021.

Abstract | Links | BibTeX | Tags: Accuracy, continuum robot, design, extensible, follow-the-leader, tendon actuated, tendon-driven continuum robots

2020

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

Modes, Vincent; Burgner-Kahrs, Jessica

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes Journal Article

IEEE Robotics and Automation Letters, 5 (1), pp. 103–110, 2020.

Links | BibTeX | Tags: Accuracy, calibration, concentric tube continuum robot, continuum robot

2019

Adjustment Device for Joint Level Calibration of Continuum Robots

Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Adjustment Device for Joint Level Calibration of Continuum Robots Inproceedings

Workshop on Opportunities and Challenges of Soft Robotics across Different Length Scales, IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: Accuracy, calibration, continuum robot

2018

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

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

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

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

BibTeX | Tags: Accuracy, concentric tube continuum robot, minimally-invasive surgery, visual servoing

2013

Burgner, Jessica; Simpson, Amber L; Fitzpatrick, Michael J; Lathrop, Ray A; Herrell, Duke S; Miga, Michael I; Webster III, Robert J

A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: Toward image registration in minimally invasive surgery Journal Article

International Journal of Medical Robotics and Computer Assisted Surgery, 9 (2), pp. 190–203, 2013.

Abstract | Links | BibTeX | Tags: Accuracy, Conoscopic holography, image-guided surgery, Registration, Surface measurement

2010

Robot Assisted Laser Osteotomy

Burgner, Jessica

Robot Assisted Laser Osteotomy PhD Thesis

Karlsruhe Institute of Technology, 2010, ISBN: 978-3-866-44497-3.

Abstract | Links | BibTeX | Tags: Accuracy, calibration, image-guided surgery, medical robotics, minimally-invasive surgery, Surgery, trajectory planning