Incorporating tube-to-tube clearances in the kinematics of concentric tube robots
Mechanics-based formulations of concentric tube robots incorporate tube bending and
twisting, but do not include other phenomena that could model observed hysteretic behavior …
twisting, but do not include other phenomena that could model observed hysteretic behavior …
Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured
environment for minimally invasive surgeries. In this letter, we consider the operation …
environment for minimally invasive surgeries. In this letter, we consider the operation …