Publications

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2021

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns

Xu, Yunti; Peyron, Quentin; Kim, Jongwoo; Burgner-Kahrs, Jessica

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns Inproceedings

4th IEEE International Conference on Soft Robotics (RoboSoft) Accepted, 2021.

BibTeX | Tags: continuum robot, design, extensible, follow-the-leader, origami, tendon-driven continuum robots

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains

Böttcher, Georg; Lilge, Sven; Burgner-Kahrs, Jessica

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains Journal Article

IEEE Robotics and Automation Letters, 6 (2), pp. 1272 - 1279, 2021.

Abstract | Links | BibTeX | Tags: collaborating continuum robots, design, parallel continuum robot, tendon-driven continuum robots

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

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Lilge, Sven; Nuelle, Kathrin; Böttcher, Georg; Spindeldreier, Svenja; Burgner-Kahrs, Jessica

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis Journal Article

ASME Journal of Mechanisms and Robotics, 13 (1), pp. 011025 (11 pages), 2020.

Abstract | Links | BibTeX | Tags: design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation

Nuelle, Kathrin; Sterneck, Tim; Lilge, Sven; Xiong, Dhezu; Burgner-Kahrs, Jessica; Ortmaier, Tobias

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation Journal Article

IEEE Robotics & Automation Letter, 5 (4), pp. 5811 - 5818, 2020.

Abstract | Links | BibTeX | Tags: calibration, control, design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots

2019

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

2018

Stiffening Sheaths for Continuum Robots

Langer, Marlene; Amanov, Ernar; Burgner-Kahrs, Jessica

Stiffening Sheaths for Continuum Robots Journal Article

Soft Robotics, 5 (3), pp. 291-303, 2018.

Abstract | Links | BibTeX | Tags: continuum robot, design, granular jamming, layer jamming, soft robot, stiffening

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

On the Merits of Helical Tendon Routing in Continuum Robots

Starke, Julia; Amanov, Ernar; Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

On the Merits of Helical Tendon Routing in Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation, pp. 6470–6476, 2017.

Abstract | Links | BibTeX | Tags: continuum robot, design, tendon actuated, tendon-driven continuum robots

Amanov, E; Granna, J; Burgner-Kahrs, J

Toward Improving Path Following Motion: Hybrid Continuum Robot Design Inproceedings

IEEE International Conference on Robotics and Automation, pp. 4666-4672, 2017.

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

Modes, V; Nguyen, Thien-Dang; Burgner-Kahrs, J

Towards Handheld Continuum Robots Inproceedings

DGR Days (German Society of Robotics), pp. 20, 2017.

BibTeX | Tags: continuum robot, design

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

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

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; 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; Burgner-Kahrs, Jessica

Towards Universal Continuum Manipulators Inproceedings

28th Conference of the international Society for Medical Innovation and Technology, 2016.

BibTeX | Tags: continuum robot, design

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