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

Designing a robotic port system for laparo-endoscopic single-site surgery

Amanov, Ernar

Designing a robotic port system for laparo-endoscopic single-site surgery PhD Thesis

Leibniz University Hannover, 2019.

Abstract | Links | BibTeX | Tags: continuum robot, design, medical robotics, minimally-invasive surgery, soft robot, stiffening, tendon actuated, tendon-driven continuum robots

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

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

Control of Continuum Robots for Medical Applications: State of the Art

Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

Control of Continuum Robots for Medical Applications: State of the Art Inproceedings

International Conference and Exhibition on New Actuators and Drive Systems, pp. 154-164, VDE VERLAG GMBH, 2018.

Links | BibTeX | Tags: continuum robot, control, minimally-invasive surgery, Surgery

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

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

Amanov, Ernar; Nguyen, Thien-Dang; Markmann, Steffen; Imkamp, Florian; Burgner-Kahrs, Jessica

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Journal Article

Annals of Biomedical Engineering, 46 (10), pp. 1498-1510, 2018.

Abstract | Links | BibTeX | Tags: continuum robot, design, layer jamming, minimally-invasive surgery, soft robot, tendon actuated, tendon-driven continuum robots

2017

Swaney, Philip J; York, Peter A; Gilbert, Hunter B; Burgner-Kahrs, Jessica; III, Robert Webster J

Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments Journal Article

Journal of Medical Devices, 11 (1), pp. 014501 (9 pages), 2017.

Abstract | Links | BibTeX | Tags: design, minimally-invasive surgery, Robotics, Surgery, tendon actuated

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

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

Amanov, E; Nguyen, Thien-Dang; Imkamp, Florian; Burgner-Kahrs, J

First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Inproceedings

The Hamlyn Symposium on Medical Robotics, pp. 91–92, 2017.

BibTeX | Tags: continuum robot, design, minimally-invasive surgery, Surgery, tendon actuated, tendon-driven continuum robots

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

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

2016

Amanov, Ernar; Imkamp, Florian; Burgner-Kahrs, Jessica

Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 93–98, 2016.

BibTeX | Tags: continuum robot, minimally-invasive surgery, stiffening, tendon-driven continuum robots

Granna, Josephine; Vornehm, Yannick; Fellmann, Carolin; Burgner-Kahrs, Jessica

Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot Inproceedings

DGR Days (German Society of Robotics), 2016.

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

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

Granna, Josephine; Godage, Isuru S; Wirz, Raul; Weaver, Kyle D; Webster III, Robert J; Burgner-Kahrs, Jessica

A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation Journal Article

IEEE Robotics and Automation Letters, 1 (2), pp. 876–883, 2016.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, image-guided surgery, minimally-invasive surgery, motion planning

Ong, Rowena; Glisson, Courtenay L; Burgner-Kahrs, Jessica; Simpson, Amber; Danilchenko, Andrei; Lathrop, Ray; Herrell, Duke S; Webster, Robert J; Miga, Michael; Galloway, Robert L

A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery Journal Article

International Journal of Computer Assisted Radiology and Surgery, 11 (8), pp. 1515–1526, 2016.

Links | BibTeX | Tags: Conoscopic holography, 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

21 entries « 1 of 2 »