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Snakes , Worms and Catheters : Continuum and Serpentine Robots for Minimally Invasive Surgery

A broad variety of serpentine and continuum robots have been developed for minimally invasive surgical applications. These vary in size from less than a millimeter to several centimeters in diameter and include flexible needles, robotic catheters, multi-segmented sheaths for NOTES applications, snake-like robots capable of suturing and inchworm devices that can move over the heart. While these devices share many common features, little effort has been devoted to exploring and exploiting these commonalities. This workshop focuses on bringing together interested researchers in academia and industry to identify unifying research questions and approaches for these types of devices.