Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots

  • Cédric Girerd
  • Kanty Rabenorosoa
  • Pierre Renaud
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 4)


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.


Continuum robot concentric tube robot robot design follow-the-leader kinematics 



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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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Cédric Girerd
    • 1
  • Kanty Rabenorosoa
    • 2
  • Pierre Renaud
    • 1
  1. 1.ICube, UDS-CNRS-INSAIllkirchFrance
  2. 2.FEMTO-ST, AS2M, Univ. Bourgogne Franche-ComtéUFC/ENSMM/CNRSBesançonFrance

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