In this paper, the full follow-the-leader capabilities achievable with concentric tube robots are analyzed, and a closed-form solution to the complete set of ...
In this paper, a general analysis of follow-the-leader motion is presented, and a closed-form solution to the complete set of trajectories where follow-the- ...
In this paper, a general analysis of follow-the-leader motion is presented, and a closed-form solution to the complete set of trajectories where follow-the- ...
Oct 22, 2024 · One proposed method for shape control, known as follow-the-leader (FTL) motion, allows the robot to deploy while occupying minimal volume but is ...
Unlike prior motion planners, our planner uses a highly accurate kinematic model of concentric tube robots. The planner also considers the effect of uncertainty ...
In addition to follow-the-leader extension, this rule is also advantageous since it produces an approximate kinematic decoupling between each telescoping ...
Abstract Concentric tube robots show promising performances for many medical applications. A particularly useful but challenging deployment of these robots, ...
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Nov 29, 2019 · This paper introduces a design framework that utilizes preoperative MRI data to configure patient-specific CTR for single and multiple tasks ...
The tubes consist of a straight section followed by a constant- curvature section, with curvatures and other important parame- ters reported in Table III. These ...
Dec 10, 2020 · The objective is to make possible the automatic navigation of such continuum robots within an anatomical structure, by simultaneously managing ...