Kinematics and calibration of active cannulas

@article{Webster2008KinematicsAC,
  title={Kinematics and calibration of active cannulas},
  author={Robert J. Webster and Joseph M. Romano and Noah J. Cowan},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={3888-3895}
}
Active cannulas are remotely actuated thin continuum robots with the potential to traverse narrow and winding environments without relying on "guiding" environmental reaction forces. These features seem ideal for procedures requiring passage through narrow openings to access air-filled cavities (e.g. surgery in the throat and lung). Composed of telescoping concentric pre-curved elastic tubes, an active cannula is actuated at its base by translation and axial rotation of component tubes. Using… CONTINUE READING
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