Concentric tube robots show promising performances for many medical applications. A particularly useful but challenging deployment of these robots, called “follow-the-leader” deployment, consists in the robot following the path traced out by its tip. In this paper, we propose to combine a simple and analytical kinematic approach combined with now possible tube design to offer efficient follow-the-leader behavior. The approach is presented and then assessed with promising performances using a realistic scenario in the context of human nose exploration.
CITATION STYLE
Girerd, C., Rabenorosoa, K., & Renaud, P. (2018). Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots. In Springer Proceedings in Advanced Robotics (Vol. 4, pp. 23–31). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-56802-7_3
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