Torsional kinematic model for concentric tube robots

@article{Dupont2009TorsionalKM,
  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},
  year={2009},
  pages={3851-3858}
}
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
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