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. Author manuscript; available in PMC: 2023 Feb 1.
Published in final edited form as: IEEE Robot Autom Lett. 2023 Feb;8(2):1005–1012. doi: 10.1109/LRA.2023.3234823

Fig. 4. Dynamic simulation instances of MAMMOBOT during eversion growing.

Fig. 4

(a) Initial system shape, (b) sheath shrinkage on the catheter after inducing pressure, (c) start of the pressure-induced eversion growing, (d)-(f) growing steps until reaching a predefined length. (Top) the spherical collision models for the sheath and catheter, (Middle & Bottom) shaded & wire frame rendering of the system during the eversion growing motion.