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

Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Grassmann, Reinhard; Burgner-Kahrs, Jessica

Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings

IEEE-RAS International Conference on Humanoid Robots, 2019.

BibTeX | Tags: continuum robot, quaternion, Robotics, trajectory planning

2017

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

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

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