Friction Modeling in Concentric Tube Robots.

Concentric tube robots are a novel class of continuum robots that are constructed by combining pre-curved elastic tubes such that the overall shape of the robot is a function of the relative rotations and translations of the constituent tubes. Frictionless kinematic and quasistatic force models for this class of robots have been developed that incorporate bending and twisting of the tubes. Experimental evaluation of these models has revealed, however, a directional dependence of tube rotation on robot shape that is not predicted by these models.

Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints.

Concentric tube robots are a novel continuum robot technology that is well suited to minimally invasive surgeries inside small body cavities such as the heart. These robots are constructed of concentrically combined pre-curved elastic tubes to form 3D curves. Each telescopic section of the robot is either of fixed or variable curvature.

Robotic Neuro-Endoscope with Concentric Tube Augmentation.

Surgical robots are gaining favor in part due to their capacity to reach remote locations within the body. Continuum robots are especially well suited for accessing deep spaces such as cerebral ventricles within the brain. Due to the entry point constraints and complicated structure, current techniques do not allow surgeons to access the full volume of the ventricles.

Quasistatic Modeling of Concentric Tube Robots with External Loads.

Concentric tube robots are a subset of continuum robots constructed by combining pre-curved elastic tubes. As the tubes are rotated and translated with respect to each other, their curvatures interact elastically, enabling control of the robot's tip configuration as well as the curvature along its length. This technology is projected to be useful in many types of minimally invasive medical procedures.

Design and Control of Concentric-Tube Robots.

A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient the robot's tip, as well as to control the robot's shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot.

Real-time Position Control of Concentric Tube Robots.

A novel approach to constructing robots is based on concentrically combining pre-curved elastic tubes. By rotating and extending the tubes with respect to each other, their curvatures interact elastically to position and orient the robot's tip, as well as to control the robot's shape along its length. Since these robots form slender curves, they are well suited for minimally invasive medical procedures.

Torsional Kinematic Model for Concentric Tube Robots.

A recent approach to steerable needle design is based on combining pre-curved tubes concentrically. By rotating and extending the tubes with respect to each other, the position and orientation of the needle tip, as well as the shape of the inserted length, can be controlled. Prior models neglected torsional twisting in the curved portions of the tubes.