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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

TABLE I.

Concentric Tube Parameters Used

Outer Tube Inner Tube
Outside Diameter (mm) 1.38 1.14
Inside Diameter (mm) 1.29 0.97
Radius of Curvature (mm) 25.4 17.8
Curved Length (mm) 55 27
Straight Length (mm) 735 833