Robots consisting of several concentric, preshaped, elastic tubes can work dexterously in narrow, constrained, and/or winding spaces, as are commonly found in minimally invasive s...
D. Caleb Rucker, Robert J. Webster III, Gregory S....
— 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...