Skip to main content
. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2016 Nov 22;33(1):22–37. doi: 10.1109/TRO.2016.2622278

Fig. 12.

Fig. 12

(a) Tube actuation system. Each tube collar is rotated independently by the system. (b) EM sensors attached to tube tips using plastic brackets. Inner tube is slightly longer to allow for mounting.