ArticleIEEE robotics and automation letters2018
Can Elastic Instability be Beneficial in Concentric Tube Robots?
Article in IEEE robotics and automation letters, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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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.
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Who cites it
2 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
- A Dynamic Model for Concentric Tube Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2020Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
Concentric tube manipulators exhibit elastic instability in which tubes snap from one configuration to another, rapidly releasing stored strain energy. While this has long been viewed as a negative phenomenon to be avoided at all costs, in this paper we explore for the first time whether the effect can be harnessed beneficially for certain applications. Specifically, we show that the energy released in an instability can be useful for challenging, high-force surgical tasks such as driving a needle through tissue. We use concentric tube models to define the energy released during elastic instability and experimentally evaluate a two-tube concentric manipulator that can drive suture needles through tissue by harnessing elastic instability beneficially.
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Registered trials
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