2018 Mechanics Modelling of Eccentrically Arranged Concentric Tubes

Abstract

Continuum robots allow accessing surgical targets deepinside the human body by steering along 3D curves inconfined spaces. Further, they provide enhanced dex-terity compared to traditional instruments [1]. Concen-tric Tube Robots (CTRs) are representative continuumrobots that exhibit shape change by the relative transla-tion and rotation of precurved elastic tubes, telescopicallyinserted into each other. CTRs were originally envisionedas “single-arm” robots [2],[3] but are nowadays also con-sidered as parts of “multi-arm” systems for surgical pro-cedures (e.g., in the prostate [4] or brain [5]).Although mechanics-based models have been developedthat can describe the shape of a single CTR of any numberof tubes and different precurvatures [6, 2], limited workon multi-arm CTRs and their modelling has been per-formed. Contrary to prior work that considers the back-bone that houses multiple robotic arms as stiff and “de-coupled” from the motion of the flexible arms [7, 4], theproposed work accounts for the interactions between anarbitrary number of CTR arms and the flexible backbone.The theory is developed for a multi-arm continuum robotcomprising a flexible CTR backbone that houses severalCTR arms as end-effectors (see Fig. 1).

Publication
Hamlyn Symposium on Medical Robotics 2018
Zisos Mitros
Zisos Mitros
PhD Student

Zisos’ research interests include surgical robotics, mechanical design and modelling and control.

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