Follow-the-Leader Deployment of Concentric Tube Robots

The particular architecture of concentric tube robots leads to lateral motions of their bodis while their tips are controlled. Such behavior can be undesired for deployment in constrained areas. In order to overcome this challenge, we worked on the follow-the-leader deployment of those robots, during which the robot body follows the path taken by its tip.

Continuum Robots Concentric Tube Robots Follow-the-Leader Deployment
Cédric Girerd
Cédric Girerd
CNRS Researcher

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

Publications

Design and Fabrication of Concentric Tube Robots: A Survey
Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in …
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Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM
Concentric tube robots are continuum robots particularly well-suited for minimally-invasive surgery. Their small diameter, natural free …
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Design of Concentric Tube Robots using Tube Patterning for Follow-the-Leader Deployment
Concentric tube robots (CTRs) have a great potential for use in medical applications. Coupled with a follow-the-leader (FTL) …
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SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots
This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) …
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Détection optique endonasale de la maladie d'Alzheimer
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In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy
Inspecting the olfactory cleft can be of high interest, as it is an open access to neurons, and thus an opportunity to collect in situ …
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Conception de robots à tubes concentriques et application à l'inspection des cellules olfactives
This PhD thesis is part of the ANR NEMRO project, whose goal is to study the hypothetical correlation between olfactory deficiency and …
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Toward a Robotized Inspection of the Olfactory Epithelium
In vivo inspection of the olfactory epithelium could lead to breakthroughs in neurosciences, but it can not be accessed today as it is …
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Towards Optical Biopsy of Olfactory Cells using Concentric Tube Robots with Follow-the-Leader Deployment
In this paper, we propose to take advantage of concentric tube robots (CTR) properties to design a robotic system for optical biopsies …
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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 …
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Concentric Tube Robots for Inspection of Olfactory Cells
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Synthesis of a New Concentric Tube Robot for Olfactory Cells Exploration
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