D. Caleb Rucker, Robert J. Webster. Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. In 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009. pages 2533-2537, IEEE, 2009. [doi]
Abstract is missing.