Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion

Concentric tube robots (CTRs) are a promising prospect for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments. Existing mechanics-based kinematic models typically neglect friction, clearance, and torsion between each pair of contacting tub...

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Detalles Bibliográficos
Autores principales: Liu, Tianxiang, Zhang, Gang, Zhang, Peng, Cheng, Tianyu, Luo, Zijie, Wang, Shengsong, Du, Fuxin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099042/
https://www.ncbi.nlm.nih.gov/pubmed/37050768
http://dx.doi.org/10.3390/s23073709

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099042/
https://www.ncbi.nlm.nih.gov/pubmed/37050768
http://dx.doi.org/10.3390/s23073709

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