Magnetic concentric tube robots: Introduction and analysis

In this paper, we propose a new type of continuum robot, referred to as magnetic concentric tube robot (M-CTR), for performing minimally invasive surgery in narrow and difficult-to-access areas. The combines tubes actuation benefit from the ‘follow leader’ behaviour, dexterity stability existing robots, while targeting millimetre-sized external diameters. These three kinematic properties are assessed through numerical experimental studies performed on prototype M-CTR. They with general forward inverse kineto-static models continuation bifurcation analysis, specific setup. presents unique capabilities terms deployment active management, its tip orientability is also among best reported other robots at scale.