RTC presentation and modeling
Design, modeling and control of concentric tube robots: towards medical applications
Article REF: S7767 V1
RTC presentation and modeling
Design, modeling and control of concentric tube robots: towards medical applications

Authors : Mohamed Nassim BOUSHAKI, Mohamed Taha CHIKHAOUI, Kanty RABENOROSOA, Chao LIU, Nicolas ANDREFF, Philippe POIGNET

Publication date: May 10, 2016 | Lire en français

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1. RTC presentation and modeling

In this section, a presentation of RTCs is given, followed by their modeling. The various models developed are described in detail, taking into account the mechanical, geometrical and kinematic characteristics of RTCs.

1.1 RTC presentation

A concentric tube robot (CTR) is a continuous-type robotic architecture with a drive unit (UA) at the base of the robot (referred to as "remote") and a mechanical structure made up of flexible tubes, each of which may have a straight part (L i , i is the ith tube, i ∈ {1..n}) and a curved part (C i ), and which are assembled telescopically...

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