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TROB
2010
103views more  TROB 2010»
13 years 5 months ago
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots
Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical needles. Recent mechanicsba...
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster...
ICRA
2010
IEEE
107views Robotics» more  ICRA 2010»
13 years 9 months ago
A model for concentric tube continuum robots under applied wrenches
Abstract— Continuum robots made from telescoping precurved elastic tubes enable base-mounted actuators to specify the curved shapes of robots as thin as standard surgical needles...
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster...
IROS
2006
IEEE
117views Robotics» more  IROS 2006»
14 years 5 months ago
Toward Active Cannulas: Miniature Snake-Like Surgical Robots
— We have developed a new class of continuously flexible snake-like robots, called active cannulas, that consist of several telescoping pre-curved superelastic tubes. The device...
Robert J. Webster III, Allison M. Okamura, Noah J....
ICRA
2008
IEEE
117views Robotics» more  ICRA 2008»
14 years 5 months ago
Kinematics and calibration of active cannulas
Abstract— Active cannulas are remotely actuated thin continuum robots with the potential to traverse narrow and winding environments without relying on “guiding” environmenta...
Robert J. Webster III, Joseph M. Romano, Noah J. C...
IROS
2009
IEEE
128views Robotics» more  IROS 2009»
14 years 5 months ago
Motion planning for active cannulas
— An active cannula is a medical device composed of thin, pre-curved, telescoping tubes that may enable many new surgical procedures. Planning optimal motions for these devices i...
Lisa A. Lyons, Robert J. Webster, Ron Alterovitz
ICRA
2009
IEEE
130views Robotics» more  ICRA 2009»
14 years 5 months ago
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas
— Active cannulas are a relatively new continuum robot subclass characterized by their use of preshaped tubes that transmit bending moments as they slide within one another and a...
D. Caleb Rucker, Robert J. Webster