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. Author manuscript; available in PMC: 2015 Jul 6.
Published in final edited form as: IEEE Int Conf Robot Autom. 2015 May;2015:5378–5383. doi: 10.1109/ICRA.2015.7139950

Fig. 5.

Fig. 5

The second task of the concentric tube robot is to align the workspace of the steerable needle such that the target nodule is within the reachable workspace of the needle. An example of aligning the steerable needle workspace by changing the initial tangent angle of the needle is shown above.