Concentric

Design and Control of Concentric-Tube Robots

Pierre E. Dupont, Jesse Lock, Brandon Itkowitz, Evan J. Butler

Citations: 733 • 2010

A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots

D. Caleb Rucker, Bryan A. Jones, Robert J. Webster

Citations: 451 • 2010

Curvature, Torsion, and Force Sensing in Continuum Robots Using Helically Wrapped FBG Sensors

Ran Xu, Aaron Yurkewich, Rajni V. Patel

Citations: 258 • 2016

Equilibrium Conformations of Concentric-tube Continuum Robots

D. Caleb Rucker, Robert J. Webster, Gregory S. Chirikjian, Noah J. Cowan

Citations: 217 • 2010

Artificial Muscles: Actuators for Biorobotic Systems

Glenn K. Klute, Joseph M. Czerniecki, Blake Hannaford

Citations: 210 • 2002

Concentric Tube Robots: The State of the Art and Future Directions

Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster

Citations: 197 • 2016

Tendon-driven continuum robots with extensible sections—A model-based evaluation of path-following motions

Ernar Amanov, Thien-Dang Nguyen, Jessica Burgner-Kahrs

Citations: 191 • 2019

Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators

Zheng Li, Liao Wu, Hongliang Ren, Haoyong Yu

Citations: 180 • 2016

Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints

Christos Bergeles, Andrew H. Gosline, Nikolay V. Vasilyev, Patrick J. Codd, Pedro J. del Nido, Pierre E. Dupont

Citations: 173 • 2015

On the Shape of the Force-Velocity Relationship in Skeletal Muscles: The Linear, the Hyperbolic, and the Double-Hyperbolic

Julián Alcázar, Robert Csapo, Ignacio Ara, Luis M. Alegre

Citations: 146 • 2019

Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment

Hunter B. Gilbert, Joseph S. Neimat, Robert J. Webster

Citations: 133 • 2015

Concentric Tube Robots for Minimally Invasive Surgery: Current Applications and Future Opportunities

Hessa Alfalahi, Federico Renda, Cesare Stefanini

Citations: 102 • 2020

Design optimization of concentric tube robots based on task and anatomical constraints

Chris Bedell, Jesse Lock, Andrew H. Gosline, Pierre E. Dupont

Citations: 94 • 2011

Algorithms for design of continuum robots using the concentric tubes approach: A neurosurgical example

Tomer Anor, Joseph R. Madsen, Pierre E. Dupont

Citations: 92 • 2011

Quasistatic modeling of concentric tube robots with external loads

Jesse Lock, Genevieve Laing, Mohsen Mahvash, Pierre E. Dupont

Citations: 89 • 2010

Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing

Robet J. Webster, John Swensen, Joseph M. Romano, Noah J. Cowan

Citations: 76 • 2009

An Adaptive Three-Fingered Prismatic Gripper With Passive Rotational Joints

Spencer Backus, Aaron M. Dollar

Citations: 76 • 2016

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test

Hunter B. Gilbert, Richard J. Hendrick, Robert J. Webster

Citations: 75 • 2015

Dexterity Analysis of Three 6-DOF Continuum Robots Combining Concentric Tube Mechanisms and Cable-Driven Mechanisms

Liao Wu, Ross Crawford, Jonathan Roberts

Citations: 74 • 2016

Motion planning for concentric tube robots using mechanics-based models

Luis G. Torres, Ron Alterovitz

Citations: 73 • 2011