Tendon-Actuated Concentric Tube Endonasal Robot (TACTER)

My contributions to this project revolved around the experimental setup and tendon routing. Utilizing a set screw and a custom mount, I redesigned the mounting point for the TACTER robot so it was better supported against pushback on the setup. Additionally, I helped design a tendon routing system, connecting the continuum robot to its' the motors. Finally, I helped prepare CT-scan based experimental models that were used for early testing prior to cadaver testing. 

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For more detailed information on TACTER, read the full paper below.