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Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions

Article
Amanov, Ernar and Nguyen, Thien-Dang and Burgner-Kahrs, Jessica
International Journal of Robotics Research (online first)
Publication year: 2019

Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Inproceedings
Grassmann, Reinhard and Burgner-Kahrs, Jessica
IEEE-RAS International Conference on Humanoid Robots, 2019
Publication year: 2019

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space

Article
Grassmann, Reinhard and Burgner-Kahrs, Jessica
IEEE Robotics & Automation Letters, 4(4):4192 - 4199, 2019
Publication year: 2019

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

Inproceedings
Reinhard M. Grassmann, Jessica Burgner-Kahrs
Robotics Science and Systems Conference, 2019
Publication year: 2019

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments

Article
Chikhaoui, Mohamed Taha and Lilge, Sven and Kleinschmidt, Simon and Burgner-Kahrs, Jessica
IEEE Robotics & Automation Letters, 4(2):989 - 996, 2019
Publication year: 2019

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

Article
Modes, Vincent and Burgner-Kahrs, Jessica
IEEE Robotics & Automation Letters (accepted for publication)
Publication year: 2019

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

Article
Black, David and Lilge, Sven and Fellmann, Carolin and Reinschluessel, Anke V. and Kreuer, Lars and Nabavi, Arya and Hahn, Horst K. and Kikinis, Ron and Burgner-Kahrs, Jessica
Journal of Medical Robotics Research, 4(2): 1950004
Publication year: 2019

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

Article
Chikhaoui, Mohamed Taha and Granna, Josephine and Starke, Julia and Burgner-Kahrs, Jessica
IEEE Robotics & Automation Letters, 3(3): 1793—1800, 2018
Publication year: 2018

Towards Concentric Tube Robots for Microsurgery: First Results in Eye-to-hand Visual Servoing

Inproceedings
Modes, Vincent and Ihler, Sontje and Nabavi, Arya and Ortmaier, Tobias and Kahrs, L"uder A. and Burgner-Kahrs, Jessica
In The Hamlyn Symposium on Medical Robotics, 2018
Publication year: 2018

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

Article
Amanov, Ernar and Nguyen, Thien-Dang and Markmann, Steffen and Imkamp, Florian and Burgner-Kahrs, Jessica
Annals of Biomedical Engineering, 46(10): 1498—1510, 2018
Publication year: 2018

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

Article
Friedrich, D.T. and Modes, V. and Hoffmann, T.K. and Greve, J. and Schuler, P.J. and Burgner-Kahrs, J.
International Journal of Medical Robotics and Computer Assisted Surgery, 14(5): e1928 (7pages), 2018
Publication year: 2018

Stiffening Sheaths for Continuum Robots

Article
Langer, Marlene and Amanov, Ernar and Burgner-Kahrs, Jessica
Soft Robotics, 5(3): 291—303, 2018
Publication year: 2018

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

Inproceedings
Grassmann, Reinhard and Modes, Vincent and Burgner-Kahrs, Jessica
In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Publication year: 2018

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Article
Kudryavtsev, Andrey V. and Chikhaoui, Mohamed Taha and Liadov, Aleksandr and Rougeot, Patrick and Spindler, Fabien and Rabenorosoa, Kanty and Burgner-Kahrs, Jessica and Tamadazte, Brahim and Andreff, Nicolas
IEEE Robotics & Automation Letters, 3(3): 2315—2321, 2018
Publication year: 2018

Die systematische Ermittlung des chirurgischen Arbeitsraumes im Rahmen laparoskopischer Niereneingriffe: Grundlage für die Konzeptionierung eines versteifbaren Endoportsystems für die Single-Port Laparoskopie

Inproceedings
Imkamp, Florian and Amanov, Ernar and Nguyen, Thien-Dang and Hielscher, V and Burgner-Kahrs, Jessica
In 12. Nordkongress Urologie, 2018
Publication year: 2018
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