2023
Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots
RA-L 2023
Concentric Tube Robots (CTRs) are promising for minimally invasive interventions due to their miniature diameter, high dexterity, and compliance with soft tissue. CTRs comprise individual pre-curved tubes usually composed of NiTi and are arranged concentrically. As each tube is relatively rotated an