Elastic Stability of Concentric Tube Robots Subject to External Loads

Concentric tube robots, which are comprised of precurved elastic tubes that are concentrically arranged, are being developed for many medical interventions. The shape of the robot is determined by the rotation and translation of the tubes relative to each other, and also by any external forces appli...

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Bibliographic Details
Published in:	IEEE transactions on biomedical engineering Vol. 63; no. 6; pp. 1116 - 1128
Main Authors:	Ha, Junhyoung, Park, Frank C., Dupont, Pierre E.
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.06.2016 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Bending Biomechanical Phenomena Concentric tube robot continuum robot Control theory Dangerous elastic stability Elasticity Electron tubes Equipment Design Kinematics Loads (forces) Optimal control Potential energy Robotic Surgical Procedures - instrumentation Robots Stability Stability criteria Translations Tubes Utilities continuum robot optimal control elastic stability Concentric tube robot
ISSN:	0018-9294, 1558-2531, 1558-2531
Online Access:	Get full text
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