Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints.

Inverse kinematics (IK) of concentric tube continuum robots (CTRs) is associated with two main problems. First, the robot model (e.g.

Design and experimental evaluation of an automated catheter operating system.

Manual catheter-based interventions (CBIs) suffer from exposure of the interventionalists to X-ray, and dependence of their performance on the expertise and fatigue level of the interventionalists. Robot-assisted catheterization systems (RACS) have been introduced in recent years to improve the efficiency of CBIs; however, using them is still associated with some difficulties such as set-up dependency to a specific type of intervention instrument, not being portable, and offering limited options of operation modes. The objective of this research is to develop a new RACS to address these shortcomings.