A 3-DOF continuum robot for intraocular dexterity and stent placement. The video shows a stent being deployed in a choroallantoic chick membrane which represents the vasculature of the retina [1, 2]. Note that [1] reports an algorithm for assisted telemanipulation and force sensing at the tip of a guide wire using a rapid interpolation map by elliptic integrals. References:
[1] W. Wei, N. Simaan: Modeling, force sensing, and control of flexible cannulas for microstent delivery, J. Dyn. Syst. Meas. Control 134(4), 041004 (2012); [2] W. Wei, C. Popplewell, H. Fine, S. Chang, N. Simaan: Enabling technology for micro-vascular stenting in ophthalmic surgery, ASME J. Med. Dev. 4(2), 014503-01 - 014503-06 (2010)
