Investigation of Micromotion Kinematics of Continuum Robots for Volumetric OCT and OCT-Guided Visual Servoing

Continuum robots (CRs) have been recently shown capable of micron-scale motion resolutions. Such motions are achieved through equilibrium modulation using indirect actuation for altering either internal preload forces or changing the cross-sectional stiffness along the length of a CR. Previously reported, but unexplained, turning point behavior is modeled using two approaches. An ...