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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...
| Autores principales: | , , , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2023
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| Materias: | |
| 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 |