@conference {3128,
	title = {On the Computational Design of Concentric Tube Robots: Incorporating Volume-based Objectives},
	booktitle = {Robotics and Automation (ICRA), 2013 IEEE International Conference on},
	year = {2013},
	publisher = {IEEE},
	organization = {IEEE},
	doi = {10.1109/ICRA.2013.6630723},
	url = {https://ieeexplore.ieee.org/abstract/document/6630723},
	author = {Burgner, Jessica and Gilbert, Hunter B and Webster, Robert J}
}
