@conference {3127,
	title = {Workspace Characterization for Concentric Tube Continuum Robots},
	booktitle = {IROS},
	year = {2014},
	publisher = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
	organization = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
	doi = {10.1109/IROS.2014.6942720},
	url = {https://ieeexplore.ieee.org/abstract/document/6942720},
	author = {Burgner-Kahrs, Jessica and Gilbert, Hunter B and Granna, Josephine and Swaney, Philip J and Webster III, Robert J}
}
