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Soft Robotics pp 222-230 | Cite as

Task-specific Design of Tubular Continuum Robots for Surgical Applications

  • Jessica Burgner-Kahrs
Conference paper

Abstract

Tubular continuum robots are the smallest among continuum robots. They are composed of multiple, precurved, superelastic tubes. The design space for tubular continuum robots is infinite: each one of the component tubes can be individually parameterized in terms of its length, segmental curvatures, diameter, and material properties. Ad-hoc selection of those parameters is extremely challenging, since the elastic coupling of concentrically arranged and actuated tubes is hard to predict with common sense, especially under the presence of workspace constraints. In this chapter, an overview of the design process is given and the current state of the art in task-specific design of tubular continuum robots is reviewed.

Keywords

Design Space Elastic Coupling Concentric Tube Tube Curvature Design Optimization Method 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Jessica Burgner-Kahrs
    • 1
  1. 1.Leibniz University HannoverHannoverGermany

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