# A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization

> Research article (IEEE Transactions on Robotics, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4285120459](https://www.wikidata.org/wiki/openalex:W4285120459)  
**Source**: https://4ort.xyz/entity/a-generalized-framework-for-concentric-tube-robot-design-using-gradient-based-optimization