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. Author manuscript; available in PMC: 2020 Apr 1.
Published in final edited form as: IEEE Trans Robot. 2018 Nov 14;35(2):353–370. doi: 10.1109/TRO.2018.2878906

Fig. 2.

Fig. 2.

Intersection of inner tube with cross section of outer tube. (a) Centerlines. (b) Plane of cross section.