ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2016
Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
What it found
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
15 citing papers in PubMed.
- A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons.IEEE transactions on medical robotics and bionics · 2026Article
- Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2026Article
- A magneto-elastic model for soft magnetic concentric tube robots.Nonlinear dynamics · 2026Article
- Soft Robotic Delivery of Coiled Anchors for Cardiac Interventions.IEEE robotics and automation letters · 2025Article
- Design, analysis, and demonstration of the COAST guidewire robot with middle tube rotation for endovascular interventions.Scientific reports · 2024Article
- A Kinetostatic Model for Concentric Push-Pull Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2024Article
- Open continuum robotics-one actuation module to create them all.Frontiers in robotics and AI · 2024Article
- Exceeding traditional curvature limits of concentric tube robots through redundancy resolution.The International journal of robotics research · 2024Article
- Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization.IEEE robotics and automation letters · 2023Article
- A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- Continuum Robots for Medical Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- On the Mathematical Modeling of Slender Biomedical Continuum Robots.Frontiers in robotics and AI · 2021Article
- A Dynamic Model for Concentric Tube Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2020Article
- Can Elastic Instability be Beneficial in Concentric Tube Robots?IEEE robotics and automation letters · 2018Article
- Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2017Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot's workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.