ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2017
Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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
8 citing papers in PubMed.
- 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
- Targeting Epilepsy Through the Foremen Ovale: How Many Helical Needles are Needed?Annals of biomedical engineering · 2022Article
- Eccentric Tube Robots as Multiarmed Steerable Sheaths.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2022Article
- Continuum Robot With Follow-the-Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy.IEEE transactions on bio-medical engineering · 2020Article
- Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2019Article
- Toward the Design of Personalized Continuum Surgical Robots.Annals of biomedical engineering · 2018Article
- Designing Stable Concentric Tube Robots Using Piecewise Straight Tubes.IEEE robotics and automation letters · 2017Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors.
Funding
Abstract
Robotic instruments based on concentric tube technology are well suited to minimally invasive surgery since they are slender, can navigate inside small cavities and can reach around sensitive tissues by taking on shapes of varying curvature. Elastic instabilities can arise, however, when rotating one precurved tube inside another. In contrast to prior work that considered only tubes of piecewise constant precurvature, we allow precurvature to vary along the tube's arc length. Stability conditions for a planar tube pair are derived and used to formulate an optimal design problem. An analytic formulation of the optimal precurvature function is derived that achieves a desired tip orientation range while maximizing stability and respecting bending strain limits. This formulation also includes straight transmission segments at the proximal ends of the tubes. The result, confirmed by both numerical and physical experiment, enables designs with enhanced stability in comparison to designs of constant precurvature.
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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.