Concentric Tube Robot - Kinematics Library

This is a concentric tube robot (CTR) kinematics library. The library implements highly efficient code for the forward kinematics of concentric tube robots.

Prerequisites

• Eigen 3.3. (header-only),
• Erl (header-only, https://gitlab.com/ggras/Erl),
• boost (header-only)

C++14 support (gcc-6, clang-4).

Installing

Install with cmake. A script to download prerequisites, compile and install is available with install.sh

License

This project is licensed under the GPL v3 License - see the LICENSE file for details.

References

If you choose to use this work, please cite our paper: Leibrandt, Konrad, Christos Bergeles, and Guang-Zhong Yang. "Concentric Tube Robots: Rapid, Stable Path-Planning and Guidance for Surgical Use." IEEE Robotics & Automation Magazine 24.2 (2017): 42-53.