Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots. - Dae-Young Lee; Jongwoo Kim; Ji-Suk Kim; Changyeob Baek; Gunwoo Noh; Do-Nyun Kim; Keri Kim; Sungchul Kang; Kyu-Jin Cho (IEEE Trans. Robotics, 2015)