Concentric Tube Robot

Concentric tube robots (CTRs) are miniature, flexible robots composed of nested tubes, offering high dexterity for minimally invasive procedures. Current research emphasizes improving kinematic modeling accuracy, particularly for scenarios with large clearances or curvatures, often employing iterative closest point algorithms and novel pseudo-rigid body models to achieve precise shape registration and control. These advancements, along with the development of efficient redundancy resolution methods (e.g., velocity/compliance manipulability optimization) and deep reinforcement learning for path planning, aim to enhance CTR performance and broaden their applications in diverse fields, including surgery and potentially even urban air delivery.