A Hybrid Dual Jacobian Approach for Autonomous Control of Concentric Tube Robots in Unknown Constrained Environments
Balint Thamo,Farshid Alambeigi,Kev Dhaliwal,Mohsen Khadem,Balint Thamo,Farshid Alambeigi,Kev Dhaliwal,Mohsen Khadem
Concentric Tube Robots (CTR) have been gaining ground in minimally-invasive robotic surgeries due to their small footprint, compliance, and high dexterity. CTRs can assure safe interaction with soft tissue, provided that precise and effective motion control is achieved. Controlling the motion of CTRs is still challenging. Commonly used model-based control approaches often employ simplified geometr...
