Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints

Table 6

Optimized results for three-segment catheter with variable length.

Two-segment	Tracked point	Three-segment	Tracked point
	: 34.837; : 17.099; : 66.199		: 17.4794; : 32.5204; : 61.4679
: 1.1032; Link-num: 2