Publications

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2016

Neumann, Maria; Burgner-Kahrs, Jessica

Considerations for follow-the-leader motion of extensible tendon-driven continuum robots Inproceedings

IEEE International Conference on Robotics and Automation, pp. 917–923, 2016, ISBN: 978-1-4673-8026-3.

Abstract | Links | BibTeX | Tags: continuum robot, extensible, follow-the-leader, motion planning, tendon actuated, 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; 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

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