Continuum Medical Robotics

Our work in Continuum Medical Robotics is focused on designing, modeling, and controlling compliant manipulators for minimally-invasive surgical interventions.  Commonly referred to as catheters, these devices are often constructed of rubber-like materials and are commonly actuated by cables, giving them impressive safety characteristics but also leading to nonlinear hysteretic behaviors which limit procedure complexity and success.  The following research is focused on maintaining the inherent safety of catheters while avoiding or compensating for their nonlinear behavior.

Recent Work

 We are grateful for the support of

  • National Science Foundation (NSF - NRI program)
  • Wisconsin Innovation & Economic Development Research Program (IEDR)
  • UW-Madison Research Funding Program (Fall Competition)