Page 175 - Flexible Robotics in Medicine

Handheld flexible robot with concentric tubes aiming for intraocular procedures 161

Figure 6.10
Geometric model: side view and alternate view of the model, from the distal end.

d 5 R 2 Rcosφ (6.2)

z 5 L 1 1 Rsinφ (6.3)

By rotating tube 2 about z, and looking at the CTR from the distal end, we can find
relations for x and y,
p ffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2
d 5 x 1 y 2 (6.4)

x
21
θ 5 tan (6.5)
y