Publication Types:

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

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

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

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

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

Computer-Assisted Planning for a Concentric-Tube Robotic System in Neurosurgery

Article
Granna, Josephine and Nabavi, Arya and Burgner-Kahrs, Jessica
International Journal of Computer Assisted Radiology and Surgery, 2018
Publication year: 2018

Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation

Article
Granna, Josephine and Guo, Yi and Weaver, Kyle D. and Burgner-Kahrs, Jessica
Journal of Medical Robotics Research, 2(1): 1750004 (9 pages), 2017
Publication year: 2017

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

Article
Swaney, Philip J. and York, Peter A. and Gilbert, Hunter B. and Burgner-Kahrs, Jessica and Webster III, Robert J.
Journal of Medical Devices, 11(1): 014501 (9 pages), 2016
Publication year: 2016

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

Article
Ong, Rowena and Glisson, Courtenay L. and Burgner-Kahrs, Jessica and Simpson, Amber and Danilchenko, Andrei and Lathrop, Ray and Herrell, S. Duke and Webster, Robert J. and Miga, Michael and Galloway, Robert L.
International Journal of Computer Assisted Radiology and Surgery, 11(8): 1515—1526, 2016
Publication year: 2016