Concentric Tube Robot (CTR)
Research topic Design and Manipulation
Industry application Medical and Surgical
The concentric tube robots (CTRs) are infinite degree-of-freedom robots with elastic structures. The CTRs have no distinct links/dedicated backbones and joints as the rigid-link robots and conventional continuum robots do. Their simple and flexible structure, along with the capability to be navigated actively, can benefit minimally-invasive surgical applications. However, modelling of the CTRs is challenging due to the compliant structure and the significant number of frames involved. This project investigates the framework of CTR modelling. Computationally efficient modelling approaches are proposed and demonstrate advantages over the existing models.