Josephine Granna
Papers
14
Total Citations
281
H-Index
9
About
Josephine Granna is a leading researcher in continuum robotics, with a focus on concentric tube robots for minimally invasive surgery. Her work spans workspace characterization, motion coordination, and design optimization, particularly for dual-arm systems and hybrid continuum robots. Granna’s major contributions include developing methods to compute and characterize the complex workspaces of concentric tube robots using Monte Carlo sampling, and advancing automation for dual-arm continuum robots to enable collision-free coordination. Her research has significant impact, with her most cited paper, "Workspace characterization for concentric tube continuum robots" (2014), garnering 65 citations, and "Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots" (2018) receiving 49 citations. Granna has also explored path planning for intracerebral hemorrhage evacuation, achieving 24 citations for a 3-D volume coverage algorithm, and compared the accuracy of da Vinci Xi and Si robots for image guidance and automation. Her notable achievements include patient-specific touch-based registration for robotic partial nephrectomy and computer-assisted planning for neurosurgery, demonstrating her commitment to translating robotic innovations into clinical practice.
Research Focus
Key Achievements
Top Papers
- 1Workspace characterization for concentric tube continuum robots65 citations · 2014
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- 3Toward improving path following motion: Hybrid continuum robot design29 citations · 2017
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