Computational Design Optimization of Concentric Tube Robots for Patient-Specific Volumes and End Effector Tasks
International Conference on Biomedical Robotics and Biomechatronics（2024）
关键词
End-effector,Concentric Tube Robots,Simple Model,Design Parameters,Surface Coverage,Urethral,Optimization Framework,Lower Urinary Tract,Human Bladder,Bladder Wall,Set Constraints,Computation Time,Bladder Cancer,Outer Diameter,Torsional,Radius Of Curvature,Camera System,Optical Coherence Tomography Images,Configuration Space,Coelomic,Optimal Design Parameters,Rapidly-exploring Random Tree,End-effector Pose,Hollow Structure,Individual Tubes,End-effector Position,Flexible Endoscope,Cystoscopy,Task Constraints,Bladder Volume
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