yusuke1997/dblp-id-title huggingface dataset:
Low Level Analysis of Video Using Spatiotemporal Pixel Blocks
Key Agreement Protocols Based on the Center Weighted Jacket Matrix as a Symmetric Co-cyclic Matrix
An Extraction Technique of Optimal Interest Points for Shape-Based Image Classification
A Multi-imager Camera for Variable-Definition Video (XDTV)
X3D Web Service Using 3D Image Mosaicing and Location-Based Image Indexing
A Surface Deformation Framework for 3D Shape Recovery
Fast Hole-Filling in Images Via Fast Comparison of Incomplete Patches
Video Synthesis with High Spatio-temporal Resolution Using Spectral Fusion
Discreet Signaling: From the Chinese Emperors to the Internet
Content-Aware Bit Allocation in Scalable Multi-view Video Coding
Symmetric Interplatory Framelets and Their Erasure Recovery Properties
Fast Outlier Rejection by Using Parallax-Based Rigidity Constraint for Epipolar Geometry Estimation
A Comparison on Textured Motion Classification
Multimedia Annotation of Geo-Referenced Information Sources
Tensor Factorization by Simultaneous Estimation of Mixing Factors for Robust Face Recognition and Synthesis
Post-processing for Enhancing Target Signal in Frequency Domain Blind Source Separation
Confidence Based Active Learning for Whole Object Image Segmentation
Learning Multi-modal Dictionaries: Application to Audiovisual Data
A Comparison Framework for 3D Object Classification Methods
From Partition Trees to Semantic Trees
Interactive Multi-view Video Delivery with View-Point Tracking and Fast Stream Switching
Multimedia Content-Based Indexing and Search: Challenges and Research Directions
Content Adaptation Capabilities Description Tool for Supporting Extensibility in the CAIN Framework
An Area-Based Decision Rule for People-Counting Systems
Role of Statistical Dependence Between Classifier Scores in Determining the Best Decision Fusion Rule for Improved Biometric Verification
Spatial Morphological Covariance Applied to Texture Classification
PCA and LDA Based Face Recognition Using Feedforward Neural Network Classifier
Generation and Evaluation of Brute-Force Signature Forgeries
Image Quality Measures for Fingerprint Image Enhancement
On Semi-supervised Learning
ICA Based Normalization of 3D Objects
Music Driven Real-Time 3D Concert Simulation
A Fast and Robust Personal Identification Approach Using Handprint
Active Appearance Model-Based Facial Composite Generation with Interactive Nature-Inspired Heuristics
Coarse-to-Fine Textures Retrieval in the JPEG 2000 Compressed Domain for Fast Browsing of Large Image Databases
Reconstruction of Computer Generated Holograms by Spatial Light Modulators
Human Action Classification Using SVM_2K Classifier on Motion Features
Labeling Complementary Local Descriptors Behavior for Video Copy Detection
Naïve Bayes Classifier Based Watermark Detection in Wavelet Transform
Musical Sound Recognition by Active Learning PNN
Multimedia Security: The Good, the Bad, and the Ugly
Kernel Fisher LPP for Face Recognition
Human Face Identification from Video Based on Frequency Domain Asymmetry Representation Using Hidden Markov Models
MPEG-7 Based Music Metadata Extensions for Traditional Greek Music Retrieval
A Statistical Framework for Audio Watermark Detection and Decoding
Dirty-Paper Writing Based on LDPC Codes for Data Hiding
A Scalable Presentation Format for Multichannel Publishing Based on MPEG-21 Digital Items
Improved Pixel-Wise Masking for Image Watermarking
A Feature Selection Methodology for Steganalysis
Additive vs. Image Dependent DWT-DCT Based Watermarking
Range Image Registration with Edge Detection in Spherical Coordinates
Content-Based Retrieval of Video Surveillance Scenes
Correlation-Based Similarity Between Signals for Speaker Verification with Limited Amount of Speech Data
Accelerating Depth Image-Based Rendering Using GPU
A Hardware-Implemented Truly Random Key Generator for Secure Biometric Authentication Systems
3D Head Position Estimation Using a Single Omnidirectional Camera for Non-intrusive Iris Recognition
Disparity-Compensated Picture Prediction for Multi-view Video Coding
Utilizing Independence of Multimodal Biometric Matchers
Support Vector Regression for Surveillance Purposes
3D Data Retrieval for Pottery Documentation
Iterative Super-Resolution Reconstruction Using Modified Subgradient Method
Schemes for Multiple Description Coding of Stereoscopic Video
Automatic Cartoon Image Re-authoring Using SOFM
Head Tracked 3D Displays
Affine Invariant Gradient Based Shape Descriptor
A Watermarking Framework for Subdivision Surfaces
JPEG-2000 Compressed Image Retrieval Using Partial Entropy Decoding
Template Matching Approach for Pose Problem in Face Verification
An Information Filtering Approach for the Page Zero Problem
Multimedia Content Representation, Classification and Security, International Workshop, MRCS 2006, Istanbul, Turkey, September 11-13, 2006, Proceedings
Emotion Assessment: Arousal Evaluation Using EEG's and Peripheral Physiological Signals
Semantic Fusion for Biometric User Authentication as Multimodal Signal Processing
On Feature Extraction for Spam E-Mail Detection
Color Images Watermarking Based on Minimization of Color Differences
Study of Applicability of Virtual Users in Evaluating Multimodal Biometrics
A Novel Model for the Print-and-Capture Channel in 2D Bar Codes
Unsupervised News Video Segmentation by Combined Audio-Video Analysis
DRM Architecture for Mobile VOD Services
3D Animation Watermarking Using PositionInterpolator
SVD Adapted DCT Domain DC Subband Image Watermarking Against Watermark Ambiguity
Robust Feature Extraction of Speech Via Noise Reduction in Autocorrelation Domain
Feature Selection for Paintings Classification by Optimal Tree Pruning
Adaptive Hybrid Data Broadcast for Wireless Converged Networks
Galois' Lattice for Video Navigation in a DBMS
Resampling Operations as Features for Detecting LSB Replacement and LSB Matching in Color Images
Stream-Based Classification and Segmentation of Speech Events in Meeting Recordings
A Blind Watermarking for 3-D Dynamic Mesh Model Using Distribution of Temporal Wavelet Coefficients
A Novel 2D Gabor Wavelets Window Method for Face Recognition
3D Facial Feature Localization for Registration
A Modified Large Margin Classifier in Hidden Space for Face Recognition
Recognizing Two Handed Gestures with Generative, Discriminative and Ensemble Methods Via Fisher Kernels
Recognizing Events in an Automated Surveillance System
Segment-Based Stereo Matching Using Energy-Based Regularization
Multiple Messages Embedding Using DCT-Based Mod4 Steganographic Method
Real-Time Steganography in Compressed Video
Online Writer Verification Using Kanji Handwriting
1998 MITRE Software Engineering & Economics Conference "Information Technology: Migration, Integration, and Management", McLean, VA, USA
Towards Motion Compensation in Autonomous Robotic Subretinal Injections
Towards a Physics Engine to Simulate Robotic Laser Surgery: Finite Element Modeling of Thermal Laser-Tissue Interactions
NeuroGAIN: Neuromechanical Generative Demand Forecasting Toward Optimal Control of Soft Hand Exoskeletons
Enhanced U-Net Tool Segmentation using Hybrid Coordinate Representations of Endoscopic Images
Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement
Comprehensive Telerobotic Ultrasound System for Abdominal Development and in-vivo Feasibility Study
A Wearable Anthropomorphically-Driven Prosthesis with a Built-In Haptic Feedback System
Bayesian Optimization Based Preprocedural Planning For Robotic Left Atrial Appendage Occlusion
Camera Configuration Models for Machine Vision Based Force Estimation in Robot-Assisted Soft Body Manipulation
Towards a ROS-based Modular Multi-Modality Haptic Feedback System for Robotic Minimally Invasive Surgery Training Assessments
Automated Pupillary Light Reflex Test on a Portable Platform
Towards FBG-based End-Effector Force Estimation for a Steerable Continuum Robot
Surgical Skill Evaluation From Robot-Assisted Surgery Recordings
Low-Contact Grasping of Soft Tissue Using a Novel Vortex Gripper
Surface Model Extraction from Indentation Curves of Hyperelastic Simulation for Abnormality Detection
Manipulability of teleoperated surgical robots with application in design of master/slave manipulators
Brain-Mimicking Phantom for Photoablation and Visualization
Toward Low-Field MRI Guided Robotic Transurethral Focal Prostate Resection: A Feasibility Study Using High-Field Images
Surgical Robotics Environment in NVIDIA Isaac Sim for Robot-Assisted Suturing
Robot therapist versus human therapist: Evaluating the effect of corrective feedback on human motor performance
International Symposium on Medical Robotics, ISMR 2024, Atlanta, GA, USA, June 3-5, 2024
International Symposium on Medical Robotics, ISMR 2022, Atlanta, GA, USA, April 13-15, 2022
Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines *
Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots
Optical Fiber -Based Needle Shape Sensing: Three-channel Single Core vs. Multicore Approaches *
International Symposium on Medical Robotics, ISMR 2021, Atlanta, GA, USA, November 17-19, 2021
Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study
Dynamic additive manufacturing onto free-moving human anatomy via temporal coarse/fine control
Preliminary Design and Evaluation of an Interfacing Mechanism for Maneuvering Virtual Minimally Invasive Surgical Instruments
OpenSim Model for Biomechanical Analysis with the Open-Source Bionic Leg
Adaptive Lower-Limb Prosthetic Control: Towards Personalized Intent Recognition & Context Estimation
Human-Computer Interfacing for Control of Angulated Scopes in Robotic Scope Assistant Systems
Learning from Demonstrations for Autonomous Soft-tissue Retraction *
Expanding the Surgical Robotics Community: An Intuitive Sim-to-Real Control Framework for Raven-II with a Budget-Friendly Gamepad Controller
Mobile Robotic Optical Coherence Tomography System for Ophthalmic Imaging in Clinical Environments
Optimal Design of Soft Continuum Magnetic Robots under Follow-the-leader Shape Forming Actuation
Estimating the Joint Angles of an Articulated Microrobotic Instrument Using Optical Coherence Tomography
Resolution-Enhanced MRI-Guided Navigation of Spinal Cellular Injection Robot
N-mirror Robot System for Laser Surgery: A Simulation Study
Development of an Everting Soft Robot for Rapid Wound Packing
Context-aware Monitoring in Robotic Surgery
Towards Biomechanical Evaluation of a Transformative Additively Manufactured Flexible Pedicle Screw for Robotic Spinal Fixation
Passive Model-based Error Compensation For Beveled-tip Needle Deflection
TAJ: A Platform for Integrating Tumor Detection and Depth Perception for Endoscopic Surgery
Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback
Experimental Trials with a Shared Autonomy Controller Framework and the da Vinci Research Kit: Pattern Cutting Tasks using Thin Elastic Materials
Assessment of robot necessity in time interval dependent rehabilitation therapy
Optical Manipulation of Microparticles in Fluids Using Modular Optical Tweezers
A Framework for Fast Automatic Robot Ultrasound Calibration
A Bi-directional User Interface for a Prosthetic Hand Using a Head-Mounted Display
NeuroPlan: A Surgical Planning Toolkit for an MRI-Compatible Stereotactic Neurosurgery Robot
Real-Time Walk Detection for Robotic Hip Exoskeleton Applications
Modeling Tendon-actuated Concentric Tube Robots
A Multi-Modal Learning System for On-Line Surgical Action Segmentation
Deep Reinforcement Learning for EMG-based Control of Assistance Level in Upper-limb Exoskeletons
Robotic Optical Coherence Tomography of Human Subjects with Posture-Invariant Head and Eye Alignment in Six Degrees of Freedom
Intelligent Control of Prosthetic Leg for Gait Symmetry
Visual-Haptic Colocation in Robotic Rehabilitation Exercises Using a 2D Augmented-Reality Display
Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot
In Situ Flexible Needle Adjustment Towards MRI-Guided Spinal Injections Based on Finite Element Simulation
Design of a 6 DoF Parallel Robot for MRI-guided Interventions
A 3-Armed 6-DOF Parallel Robot for Femur Fracture Reduction: Trajectory and Force Testing *
Lymph Node Detection Using Robot Assisted Electrical Impedance Scanning and an Artificial Neural Network
Efficient Steady-State Tissue Simulation for Surgical Robotics: A First-Order Position-Based Method
A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports
A Unified Control Framework with Continuous Speed Adaptation used for Powered Prostheses Control
A Trimodal Framework for Robot-Assisted Vascular Shunt Insertion When a Supervising Surgeon is Local, Remote, or Unavailable
Development and evaluation of haptics-based rehabilitation system
A Data-Driven Model with Hysteresis Compensation for I 2 RIS Robot
Choosing Statistically Safe, Variable-Thickness Margins in Robot-Assisted Partial Nephrectomy
Local Parametric Surface Approximation With Automatic Order Selection From Position Data
Portable Dual Sensor Large Area Visualization System for Robotic Laser Surgery
Robot Force Estimation with Learned Intraoperative Correction
Performance evaluation of haptically enabled sEMG
Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections
Dynamic Modeling of the Da Vinci Research Kit Arm for the Estimation of Interaction Wrench
Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Autonomous Optimal Camera Viewpoint Adjustment
Manufacturing and Design Improvements of an Everting Airway Device Prototype
Towards Automatic Robotic Calibration System for Flexible Needles with FBG Sensors
Multi-Modal Gesture Recognition from Video and Surgical Tool Pose Information via Motion Invariants
Remotely Actuated Needle Driving Device for MRI-Guided Percutaneous Interventions
dVRK-Si: The Next Generation da Vinci Research Kit
An Admittance-Controlled Robotic Assistant for Semi-Autonomous Breast Ultrasound Scanning
A Chain-Based Cable-Driven Upper-Limb Exoskeleton: Design, Mechanical Analysis and Development
International Symposium on Medical Robotics, ISMR 2025, Atlanta, GA, USA, May 14-16, 2025
Development and Error Analysis of a Novel Robotic System for Photodynamic Therapy
Image-Guided Optimization of Robotic Catheters for Patient-Specific Endovascular Intervention
Active Motion Cancellation for Robotic Optical Coherence Tomography of Moving Eyes: A Nystagmus Phantom Study
Sensor Fusion for Force and Position Calibration of a Motorized Surgical Smart Grasper
Smart Room with AI Capabilities for Efficient and Safe Doctor Checkup in the COVID era
Vision-Based Shared Control for Telemanipulated Nasopharyngeal Swab Sampling
Force Estimation on Steerable Catheters through Learning-from-Simulation with ex-vivo Validation
Enabling Higher Performance Concentric Tube Robots Via Multiple Constant-Curvature Tubes
Velocity Control for the da Vinci Research Kit
Automatic Contact Force-regulated End-effector Using Pneumatic Actuator for Safe Robotic Ultrasound Imaging
International Symposium on Medical Robotics, ISMR 2023, Atlanta, GA, USA, April 19-21, 2023
Advances in an Autonomous Healthcare Mobile Robot for Contact-Less Vital-Sign Measurement
Design, Development, and Preliminary Evaluation of a Semi-Automated Active Needle Device for Curvilinear Catheter Implantation
What Happens When Pneu-Net Soft Robotic Actuators Get Fatigued?
Cannula-Mounted Robots for Semi-Autonomous Vertebroplasty: A Comparison of Piezo-Based and Screw-Based Inchworm Drive Designs
Development of a Preliminary Use Case for Socially Assistive Robot-Augmented Early Intervention with Clinical Stakeholders
The Effects of Artificial Intelligence Assistants on the Acquisition of Laparoscopic Surgical Spatial Navigation Skills
Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot
Real Time Localization of Cystoscope Angulation in 2D Bladder Phantom for Telecystoscopy
Tissue Cutting Properties in Robot-assisted Scleral Flap Preparation
On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings
FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy
On the Kinematic Model of Continuum Robots with Spatially Varying Nonlinear Stiffness
MOPS: A Modular and Open Platform for Surgical Robotics Research
Multicamera 3D Reconstruction of Dynamic Surgical Cavities: Camera Grouping and Pair Sequencing
Modeling and Operator Control of a Robotic Tool for Bidirectional Manipulation in Targeted Prostate Biopsy
Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference
A Reactive Autonomous Camera System for the RAVEN II Surgical Robot
A novel hardware approach to integrating active and passive rehabilitation in a single exoskeleton
Constructing a Heterogeneous Model for Soft Tissue Deformation Using Two Dimensional Wave Equations *
Prototyping a sensorized tool wristband for objective skill assessment and feedback during training in minimally invasive surgery
Retinal surgery with flexible robots: Biomechanical advantages
Trajectory Tracking Impedance Controller in 6-DoF Lower-Limb Exoskeleton for Over-Ground Walking Training: Preliminary Results
Design and Evaluation of a Soft Robotic Catheter Tip Prototype with Self-Propulsion and Shape Changeable Teleoperation
Needle Entry Angle & Force: Vision-enabled Force-based Metrics to Assess Surgical Suturing Skill
Real-time vision-based surgical tool segmentation with robot kinematics prior
Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles
Design and Characterization of a Miniature Dual-chamber Pneumatic Actuator for Minimally Invasive Surgical Devices
A Smartphone and Permanent Magnet-based Needle Guidance System
From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling
Automated Motion Control of the COAST Robotic Guidewire under Fluoroscopic Guidance
Towards Safe and Efficient Reinforcement Learning for Surgical Robots Using Real-Time Human Supervision and Demonstration
International Symposium on Medical Robotics, ISMR 2020, Atlanta, GA, USA, November 18-20, 2020
Pose-aware C-Arm Calibration and Image Distortion Correction for Guidewire Tracking and Image Reconstruction
Theoretical Investigations on a Dynamic Hand Orthosis Based on a Prestressed Compliant Structure with Respect to Stiffness and Wrist-Forces
CT-guided abdominal biopsy training phantom
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots
Dual-Arm Needle Manipulation with the da Vinci ® Surgical Robot
Comprehensive Robotic Cholecystectomy Dataset (CRCD): Integrating Kinematics, Pedal Signals, and Endoscopic Videos
FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches
Experimental validation of curvature tracking with a programmable bevel-tip steerable needle
An Approach for Collaborative Robot-Assisted Endoscopic Lumbar Discectomy
Enabling Distal Rotation in a Robotically Steerable Guidewire: An Initial Approach
Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots
Transformer-Based Automated Skill Assessment and Interpretation in Robot-Assisted Surgery
MR-Conditional Robotic Actuation of Concentric Tendon-Driven Cardiac Catheters
International Symposium on Medical Robotics, ISMR 2018, Atlanta, GA, USA, March 1-3, 2018
A Light-weight High-accuracy 4-DOF Robot for CT-image Guided Percutaneous Interventions
Towards Suturing From Within the Urethra Using Concentric Tube Robots: First Experiences in Biological Tissues
Variable Stiffness Soft Eversion Growing Robot via Temperature Control of Low-Melting Point Alloy Pressurised Medium
Prediction of task-based, surgeon efficiency metrics during robotic-assisted minimally invasive surgery
Model-based Control for a Coupled Soft Robotic Exo-digit and Anthropomorphic Finger with Multi-Contact Point Physical Interaction
Towards an MRI-Compatible Flexible Endoscopic Robot for Transsphenoidal Neurosurgery
Capacitive Two-dimensional Force Sensing Microcantilever with a Conductive Tip for Characterization of Biological Samples
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities
TSA-BRAG: A Twisted String Actuator-powered Biomimetic Robotic Assistive Glove
Eyesight: Eye Examination System with Intelligent Guidance and Human Tracking
Modeling and Numerical Simulation of Variable Length Soft Fluidic Actuators for Wearable Rehabilitation Robots
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery
On the Potentials of Utilizing a Handheld Bioprinter for in Vivo Treatment of Volumetric Muscle Loss Injuries
Mode-free Control of Prosthetic Lower Limbs
A Framework of Real2Sim Teleoperation System for Evaluating Surgical Robotic Tool Design
A Structurally Enhanced Neck Exoskeleton to Assist with Head-Neck Motion
Integrating Artificial Intelligence and Augmented Reality in Robotic Surgery: An Initial dVRK Study Using a Surgical Education Scenario
AMBF-RL: A real-time simulation based Reinforcement Learning toolkit for Medical Robotics
A CT-visible Thermal Ablation Phantom
SDOP: A smart handheld device for over puncture prevention during pediatric peripheral intravenous catheterization
Automatic Detection of Needle Puncture in a Simulated Cannulation Task
HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management
International Symposium on Medical Robotics, ISMR 2019, Atlanta, GA, USA, April 3-5, 2019
Accelerating Constrained Continual Learning with Dynamic Active Learning: A Study in Adaptive Speed Estimation for Lower-Limb Prostheses
Using a Force-Controlled Robot for Probing-Based Registration and Automated Bone Drilling in Pedicle Screw Placement Procedures
Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles
MyoTrack: Tracking Subject Participation in Robotic Rehabilitation using sEMG and IMU *
A disposable continuum endoscope using piston-driven parallel bellow actuator
Improved Integrated Robotic Intraocular Snake *
Evaluation of a Motion Measurement System for PET Imaging Studies
Embedded control system for stimulation-driven exoskeleton
Smoothness Constrained Curiosity Driven Multicamera Trajectory Optimization for Robot-Assisted Minimally Invasive Surgery
Development of a 6 Degrees of Freedom Prostate Brachytherapy Robot with Integrated Gravity Compensation System
The SEA-Scope: Torque-limited endoscopic joint control for telemanipulation or visual servoing through tendon force control with series elastic actuation
Working Sideways with Concentric Tube Robots: A System for Natural Orifice Intrauterine Surgeries
Towards an Active Ankle-Foot Prosthesis Powered by Dielectric Elastomer Actuators in Antagonistic Pairs
Advanced patient transfer assist device
A Mixed E/E-Architecture for Interconnected Operating Tables Inspired by the Automotive Industry
Autonomous Ultrasound Scanning to Localize Needle Tip in Breast Brachytherapy
The Modernization of Preoperative Scoliosis Curvature Correction Methods for Pediatric Patients
Towards the development of a MEMS-based force sensor for in vivo tumor tissue demarcation
Real-Time Incremental Estimation of Retinal Surface Using Laser Aiming Beam
Towards a Robotically Steerable Laser Ablation Probe
Evaluation of Needle Manipulation Controller Subject to Uncertainty of Tip Pose Feedback: a Simulation Study
dVPose: Automated Data Collection and Dataset for 6D Pose Estimation of Robotic Surgical Instruments
A Path Tracking Control Algorithm for Smart Wheelchairs
Using continuum robots for force-controlled semi autonomous organ exploration and registration
Towards an Autonomous Minimally Invasive Spinal Fixation Surgery Using a Concentric Tube Steerable Drilling Robot