@article{lin2022generalized,
    author = {Jui-Te Lin and Cedric Girerd and Jiayao Yan and John T. Hwang and Tania K. Morimoto},
    title = {A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization},
    journal = {IEEE Transactions on Robotics},
    year = {2022},
    volume = {38},
    number = {6},
    pages = {3774-3791},
    doi = {10.1109/tro.2022.3180627},
    url = {https://doi.org/10.1109/tro.2022.3180627},
    note = {Metadata verification: Crossref DOI},
}