Continuum robots

Continuum robots are coming to the fore, especially in recent few years. They have great potential to be used in medical applications such as minimally invasive surgery (MIS). Our main objective is to develop a robotic system suitable for MIS of abdominal cavity.

Research objectives

  • Development of mechanical design suitable for MIS
  • Model-free control system based on machine learning approaches
  • Mathematical and simulation models for the optimization and control purposes

Publications:


Design and analyses of tendon-driven continuum robots for minimally invasive surgery

Martin Varga, Peter Jan Sincak, Tomas Merva, Peter Marcinko, Lubica Mikova, Erik Prada, Marek Schnitzer, Ivan Virgala
IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd.

@Article{VARGA202425,
    author={Martin Varga and Peter Ján Sinčák and Tomáš Merva and Peter Marcinko and Lubica Miková and Erik Prada and Marek Schnitzer and Ivan Virgala},
    journal = {IFAC-PapersOnLine},
    title = {Design and analyses of tendon-driven continuum robots for minimally invasive surgery},
    year = {2024},
    number = {9},
    volume = {58},
    DOI = {https://doi.org/10.1016/j.ifacol.2024.07.366},
    URL = {https://www.sciencedirect.com/science/article/pii/S2405896324004555},
    ISSN = {2405-8963},
    keywords = {actuation subsystem, continuum robot, minimally invasive surgery, tendon-driven actuation}
}


Sensing of Continuum Robots: A Review

Peter Jan Sincak, Erik Prada, Ľubica Miková, Roman Mykhailyshyn, Martin Varga, Tomas Merva, Ivan Virgala
Sensors, Multidisciplinary Digital Publishing Institute (MDPI), 2024

@Article{s24041311,
    author={Sincak, Peter Jan and Prada, Erik and Miková, Ľubica and Mykhailyshyn, Roman and Varga, Martin and Merva, Tomas and Virgala, Ivan},
    journal = {Sensors},
    title = {Sensing of Continuum Robots: A Review},
    year = {2024},
    number = {4},
    volume = {24},
    DOI = {10.3390/s24041311},
    URL = {https://www.mdpi.com/1424-8220/24/4/1311},
    ISSN = {1424-8220},
    keywords = {continuum robots, environment sensing, shape sensing, soft robots, flexible sensors}
}