Table 1 Optimized parameter values for three tubes comprising the robotic catheter.

Tube sections are labeled in Fig. 4B.

Tube 1Tube 2Tube 3
Section 1Section 1Section 1Section 2
Outer
diameter (mm)
2.772.401.8751.875
Inner
diameter (mm)
2.542.001.601.60
Section
length (mm)
72.072.055.072.0
Radius of
curvature (mm)
15015040.0∞ (straight)
Relative bending
stiffness
0.9950.9950.3380.338