Search Results - "Girerd, Cedric"

Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery by Girerd, Cedric, Morimoto, Tania K.

“…Minimally invasive surgery is of high interest for interventional medicine since the smaller incisions can lead to less pain and faster recovery for patients…”
Get full text

Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots by Girerd, Cedric, Alvarez, Anna, Hawkes, Elliot W., Morimoto, Tania K.

“…A new subclass of soft robot, known as tip-extending or "vine" robots, consists of long inflatable devices that move through the environment by extending from…”
Get full text

Design and Fabrication of Concentric Tube Robots: A Survey by Nwafor, Chibundo J., Girerd, Cedric, Laurent, Guillaume J., Morimoto, Tania K., Rabenorosoa, Kanty

“…Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery…”
Get full text

A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization by Lin, Jui-Te, Girerd, Cedric, Yan, Jiayao, Hwang, John T., Morimoto, Tania K.

“…Concentric tube robots (CTRs) show particular promise for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained…”
Get full text

Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery by Lin, Jui-Te, Girerd, Cedric, Ostrander, Benjamin T., Molaei, Parsa, Gilbert, Hunter B., Weissbrod, Philip A., Hwang, John T., Morimoto, Tania K.

“…Concentric tube robots (CTRs) are well-suited to address the unique challenges of minimally invasive surgical procedures due to their small size and ability to…”
Get full text

SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots by Girerd, Cedric, Kudryavtsev, Andrey V., Rougeot, Patrick, Renaud, Pierre, Rabenorosoa, Kanty, Tamadazte, Brahim

“…This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the…”
Get full text

Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM by Girerd, Cedric, Kudryavtsev, Andrey V., Rougeot, Patrick, Renaud, Pierre, Rabenorosoa, Kanty, Tamadazte, Brahim

“…Concentric tube robots are continuum robots particularly well-suited for minimally-invasive surgery. Their small diameter, natural free channel and snake-like…”
Get full text

Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering by Lu, Jingpei, Liu, Fei, Girerd, Cedric, Yip, Michael C.

“…State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D…”
Get full text

Scalable enforcement of geometric non-interference constraints for gradient-based optimization by Dunn, Ryan C., Joshy, Anugrah Jo, Lin, Jui-Te, Girerd, Cédric, Morimoto, Tania K., Hwang, John T.

“…Many design optimization problems include constraints to prevent intersection of the geometric shape being optimized with other objects or with domain…”
Get full text

In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy by Girerd, Cédric, Lihoreau, Thomas, Rabenorosoa, Kanty, Tamadazte, Brahim, Benassarou, Mourad, Tavernier, Laurent, Pazart, Lionel, Haffen, Emmanuel, Andreff, Nicolas, Renaud, Pierre

“…Inspecting the olfactory cleft can be of high interest, as it is an open access to neurons, and thus an opportunity to collect in situ related data in a…”
Get full text

Towards a Wireless Force Sensor Based on Wave Backscattering for Medical Applications by Girerd, Cedric, Zhang, Qiming, Gupta, Agrim, Dunna, Manideep, Bharadia, Dinesh, Morimoto, Tania. K.

“…In medical applications, sensing forces along surgical tools is of high importance in order to avoid collateral damage of tissue and surrounding structures…”
Get full text

Towards optical biopsy of olfactory cells using concentric tube robots with follow-the-leader deployment by Girerd, Cedric, Rabenorosoa, Kanty, Rougeot, Patrick, Renaud, Pierre

“…In this paper, we propose to take advantage of concentric tube robots (CTR) properties to design a robotic system for optical biopsies with fiber-based imaging…”
Get full text

Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM by Girerd, Cedric, Kudryavtsev, Andrey, Rougeot, Patrick, Renaud, Pierre, Rabenorosoa, Kanty, Tamadazte, Brahim

“…Concentric tube robots are continuum robots particularly well-suited for minimally-invasive surgery. Their small diameter, natural free channel and snake-like…”
Get full text

Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering by Park, Daegue, Gupta, Agrim, Bashar, Shayaun, Girerd, Cedric, Bharadia, Dinesh, Morimoto, Tania. K.

“…The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are numerous situations, in…”
Get full text

Design and Fabrication of Concentric Tube Robots: A Survey by Nwafor, Chibundo, Girerd, Cédric, Laurent, Guillaume, Morimoto, Tania K., Rabenorosoa, Kanty

“…Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery…”
Get full text

Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering by Lu, Jingpei, Liu, Fei, Girerd, Cedric, Yip, Michael C

“…State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D…”
Get full text

A 3-D Haptic Trackball Interface for Teleoperating Continuum Robots by Xie, Mufeng, Girerd, Cedric, Morimoto, Tania K.

“…Continuum robots offer many advantages for navigation in constrained environments, due to their flexible backbone and ability to conform to complex shapes…”
Get full text

Modeling and Design of Soft, Positive-Pressure Actuated Suction Cups for Anchoring in Minimally Invasive Surgery by Giri, Ayush, Girerd, Cedric, Luo, Xiaolei, Broderick, Ryan, Morimoto, Tania K.

“…Soft suction cups have been proposed for many applications, including manipulating soft tissues and measuring mechanical properties of the skin. Models that…”
Get full text

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor by Gupta, Agrim, Park, Daegue, Bashar, Shayaun, Girerd, Cedric, Morimoto, Tania, Bharadia, Dinesh

“…Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as a robotic arm gripping an object or…”
Get full text

WiForce: Wireless Sensing and Localization of Contact Forces on a Space Continuum by Gupta, Agrim, Girerd, Cedric, Dunna, Manideep, Zhang, Qiming, Subbaraman, Raghav, Morimoto, Tania, Bharadia, Dinesh

“…Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely…”
Get full text