Concentric tube robots, or CTRs, are tentacle-like robots composed of precurved telescoping tubes (Fig. 1a) and are controlled by rotating and translating each individual tube [6]. Their dexterity and small diameter enable minimally-invasive surgery in constrained areas, such as accessing the pituitary gland via the sinuses. Unfortunately, their unintuitive kinematics make manually guiding the tip while also avoiding obstacles with the entire tentacle-like shape extremely difficult [19]. This motivates a need for new user interfaces and planning algorithms.
Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs
Springer Proceedings in Advanced Robotics
International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018
Proceedings of the 2018 International Symposium on Experimental Robotics ; Chapter : 1 ; 3-13
2020-01-23
11 pages
Article/Chapter (Book)
Electronic Resource
English
Concentric Tube Robots Rapid, Stable Path-Planning and Guidance for Surgical Use
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