Applied Bionics and Biomechanics

Research Article

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

Table 7

Optimized results for a three-segment catheter with variable length without interaction with fragile structures like texture.
Two-segmentTracked pointThree-segmentTracked point



: 30.1286
: 25.5773
: 65.9110




: 50.6561
: 1.2243
: 72.9058
: 1.4539
Link-num: 2