3 accepted papers
Concentric tube manipulators exhibit elastic instability in which tubes snap from one configuration to another, rapidly releasing stored strain energy. While this has long been viewed as a negative phenomenon to be avoided at all costs, in this paper we explore for the first time whether the effect
Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels…
In designing concentric tube robots, it is often desirable to use curvatures that are as high as possible. However, with high curvatures comes the potential for elastic instabilities. This can be addressed by motion planning or by designing the robot to preclude the possibility of instability. In th…