Applied Bionics and Biomechanics

Research Article

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

Table 8

Optimized results for three-segment catheter with variable length with interaction with fragile structures like texture.
Two-segmentTracked pointThree-segmentTracked point



: 30.0826
: 25.5582
: 65.8237




: 24.9051
: 22.4644
: 61.0422
: 2.8294
Link-num: 2
dB: 1.1641