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Concentric Tube Robots Rapid, Stable Path-Planning and Guidance for Surgical Use

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Academic year: 2021

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Figure

Fig. 1. Concentric tube robots with different translation scaling. Each colour consists of 1000 robot configurations with random joint values.
Fig. 2. S-curve: Relation of α B → α T . The colour of the curve is a representation of d sta , defined in (2)
Fig. 3. Blocks for calculating valid CTR configuration samples for the i.
Fig. 4. Random concentric tube configurations with different scaling of the translational component, 1000 configurations each
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