Torsional kinematic model for concentric tube robots

  title={Torsional kinematic model for concentric tube robots},
  author={Pierre E. Dupont and Jesse Lock and Evan J. Butler},
  journal={2009 IEEE International Conference on Robotics and Automation},
A recent approach to steerable needle design is based on combining pre-curved tubes concentrically. By rotating and extending the tubes with respect to each other, the position and orientation of the needle tip, as well as the shape of the inserted length, can be controlled. Prior models neglected torsional twisting in the curved portions of the tubes. This paper presents a mechanics model that includes torsion, applies to any number of tubes and allows curvature and stiffness to vary with arc… CONTINUE READING
Highly Cited
This paper has 129 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 31 extracted citations

130 Citations

Citations per Year
Semantic Scholar estimates that this publication has 130 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 10 references

Teleoperation of Concentric Tube Manipulators

  • B. Itkowitz
  • MS Thesis, Electrical & Computer Eng, Boston Univ…
  • 2007
Highly Influential
5 Excerpts

Handheld Steerable Needle Device

  • R. Ebrahimi, S. Okzawa, R. Rohling, S. E. Salcudean
  • Medical Image Computing and Computer Assisted…
  • 2003
1 Excerpt

Similar Papers

Loading similar papers…