3. Control of concentric tube robots

The complexity of direct and inverse geometric models (high computation time) makes real-time control of RTCs laborious. Control performance depends on the accuracy of the models used. The accuracy of RTC geometric modeling (direct and inverse) is at most inversely proportional to the overall length of the robot.

In this section, we present RTC control work and classify it in Table 4 according to the control technique used, robot length L (we consider the length of the inner tube as the total length of the robot), real-time implementation (T-R) and cycle frequency F _cycle . The performance of each proposed control architecture is evaluated in Table 4 by the root-mean-square tracking error (RMSE)....