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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

Table I. Growing Robot Parameters In Simulation.

	Catheter	Sheath	tendon
Material	Nitinol	LDPE	Nitinol
Inner Dia.	1.50 mm	2.95 mm	-
Outer Dia.	1.85 mm	3 mm	0.35 mm
Full Length	95 mm	95 mm	95 mm
Thickness	0.175 mm	35 um	-
Total Mass	0.215 g	0.056 g	0.059 g
Young’s Modulus	20 GPa	0.3 GPa	20 GPa
Mesh Stiffness	2e10^* N/m	3e8^* N/m	2e9^* N/m
Mesh Damping	400^* Ns/m	40^* Ns/m	400^* Ns/m

^*

identified values through experiments.