Publications

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2019

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications

Granna, Josephine

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications PhD Thesis

Leibniz University Hannover, 2019.

Abstract | Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery, trajectory planning

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

Granna, Josephine; Nabavi, Arya; Burgner-Kahrs, Jessica

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

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

Abstract | Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery, planning, Surgery

2017

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

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

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

Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery

Burgner-Kahrs, J

How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application? Journal Article

Latest Thinking, 2017, ISSN: 25105183.

Links | BibTeX | Tags: computational design, concentric tube continuum robot, continuum robot, design, minimally-invasive surgery, Surgery

Granna, J; Nabavi, A; Burgner-Kahrs, J

Initial Proof-of-Concept of an Ablation Planning Algorithm for Laser-Induced Interstitial Thermotherapy in the Brain using a Tubular Continuum Robot Inproceedings

Workshop: C4 Surgical Robots: Compliant, Continuum, Cognitive, and Collaborative, IEEE/RSJ International Conference on Robotics and Automation, 2017.

BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery

Granna, Josephine; Nabavi, Arya; Burgner-Kahrs, Jessica

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

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

Abstract | Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery, trajectory planning

2016

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

Toward automated cochlear implant insertion using tubular manipulators Inproceedings

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

Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery

2015

Continuum Robots for Medical Applications - A Survey

Burgner-Kahrs, Jessica; Rucker, Caleb D; Choset, Howie

Continuum Robots for Medical Applications - A Survey Journal Article

IEEE Transactions on Robotics, 31 (6), pp. 1261-1280, 2015.

Abstract | Links | BibTeX | Tags: computational design, continuum robot, control, design, minimally-invasive surgery, modeling, motion planning, survey, trajectory planning