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. Author manuscript; available in PMC: 2016 May 1.
Published in final edited form as: IEEE Int Conf Robot Autom. 2015 May;2015:2263–2243. doi: 10.1109/ICRA.2015.7139495

Fig. 1.

Fig. 1

Continuum and pseudo-rigid-body model of the catheter. The rotation of the ith joint is expressed in terms of two orthogonal twists, denoted by ξix and ξiy.