Path Planning for Concentric Tube Robots: A Toolchain with Application to Stereotactic Neurosurgery

Author:

Hoffmann Matthias K.,Esterhuizen Willem,Worthmann Karl,Flaßkamp Kathrin

Funder

Deutsche Forschungsgemeinschaft

Publisher

Elsevier BV

Subject

General Medicine

Reference25 articles.

1. CasADi – A software framework for nonlinear optimization and optimal control;Andersson;Mathematical Programming Computation,2019

2. Concentric tube robot design and optimization based on task and anatomical constraints;Bergeles;IEEE Transactions on Robotics,2015

3. Combining homotopy methods and numerical optimal control to solve motion planning problems;Bergman,2018

4. On the computational design of concentric tube robots: Incorporating volume-based objectives;Burgner,2013

5. A minimum-time obstacle-avoidance path planning algorithm for unmanned aerial vehicles;De Marinis;Numerical Algorithms,2022

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