@article {3204,
	title = {Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints},
	journal = {Robotics and Automation (ICRA), 2011 IEEE International Conference on},
	year = {2011},
	publisher = {IEEE},
	author = {Bedell, Chris and Lock, Jesse and Gosline, Andrew and Dupont, Pierre E.}
}
