Publications

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2021

Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots

Liang, Nan; Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation (ICRA) - in press, 2021.

BibTeX | Tags: concentric tube continuum robot, kinematics, machine learning, modeling

2020

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection

Donat, Heiko; Lilge, Sven; Burgner-Kahrs, Jessica; Steil, Jochen J

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection Journal Article

IEEE Transactions on Medical Robotics and Bionics , 2 (4), pp. 619-630, 2020.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, sensing

CTCR Prototype Development: An Obstacle in the Research Community?

Grassmann, Reinhard; Lilge, Sven; Le, Phuong; Burgner-Kahrs, Jessica

CTCR Prototype Development: An Obstacle in the Research Community? Inproceedings

RSS 2020 Workshop RobRetro, 2020.

Links | BibTeX | Tags: concentric tube continuum robot, retrospective

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

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

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)

Grassmann, Reinhard; Burgner-Kahrs, Jessica

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings

Robotics: Science and Systems Conference, 10 pages, 2019.

Links | BibTeX | Tags: concentric tube continuum robot, continuum robot, machine learning, Robotics

Controlling Concentric Tube Robots while Enforcing Shape Constraints

Lilge, Sven; Burgner-Kahrs, Jessica

Controlling Concentric Tube Robots while Enforcing Shape Constraints Inproceedings

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.

BibTeX | Tags: concentric tube continuum robot, shape constraint

Towards Learning Force Sensing for a Concentric Tube Continuum Robot

Donat, Heiko; Lilge, Sven; Steil, Jochen; Burgner-Kahrs, Jessica

Towards Learning Force Sensing for a Concentric Tube Continuum Robot Inproceedings

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.

BibTeX | Tags: concentric tube continuum robot, machine learning

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

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

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot Journal Article

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

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, hri, teleoperation

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

2018

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)

Grassmann, Reinhard; Modes, Vincent; Burgner-Kahrs, Jessica

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3) Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, modeling

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots

Lilge, Sven; Black, David; Nabavi, Arya; Burgner-Kahrs, Jessica

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots Inproceedings

Annual Meeting of the German Society for Computer- and Robot-assisted Surgery, pp. 74–79, 2018.

Abstract | BibTeX | Tags: concentric tube continuum robot, hri, teleoperation

Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber

van Roosbroeck, J; Modes, V; Lindner, E; van Hoe, B; Voigtlander, C; Vlekken, J; Burgner-Kahrs, J

Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber Inproceedings

26th International Conference on Optical Fiber Sensors (OFS), 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, fbg, sensing

Eye-in-Hand Visual Servoing of Concentric Tube Robots

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

Eye-in-Hand Visual Servoing of Concentric Tube Robots Journal Article

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

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, control, visual servoing

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

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

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

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

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, hri, minimally-invasive surgery, Surgery, teleoperation

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

Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots

Chikhaoui, Mohamed Taha; Granna, Josephine; Starke, Julia; Burgner-Kahrs, Jessica

Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots Journal Article

IEEE Robotics & Automation Letters, 3 (3), pp. 1793-1800, 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, control, teleoperation

2017

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

A Manual Actuation System for Laser Induced Thermal Therapy of Malignant Brain Tumors Inproceedings

16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V, pp. 125–130, 2017.

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

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

25 entries « 1 of 2 »