Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots


Concentric tube robots show promising performances for many medical applications. A particularly useful but challenging deployment of these robots, called “follow-the-leader” deployment, consists in the robot following the path traced out by its tip. In this paper, we propose to combine a simple and analytical kinematic approach combined with now possible tube design to offer efficient follow-the-leader behavior. The approach is presented and then assessed with promising performances using a realistic scenario in the context of human nose exploration.

In Advances in Robot Kinematics
Cédric Girerd
Cédric Girerd
CNRS Researcher

My research interests include continuum, soft and inflatable robots for medical application and inspection tasks.