Abstract
Concentric tube robots show promising performances for many medical applications. A particularly useful but challenging deployment of these robots, called “follow-the-leader” deployment, consists in the robot following the path traced out by its tip. In this paper, we propose to combine a simple and analytical kinematic approach combined with now possible tube design to offer efficient follow-the-leader behavior. The approach is presented and then assessed with promising performances using a realistic scenario in the context of human nose exploration.
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Acknowledgements
This work was supported by the French National Agency for Research within the Biomedical Innovation program (NEMRO ANR-14-CE17-0013), and the Investissements d’Avenir (Robotex ANR-10-EQPX-44, Labex CAMI ANR-11-LABX-0004 and Labex ACTION ANR-11-LABX-0001-01)
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Girerd, C., Rabenorosoa, K., Renaud, P. (2018). Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_3
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DOI: https://doi.org/10.1007/978-3-319-56802-7_3
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