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1、IEEETRANSACTIONSONROBOTICS,VOL.26,NO.2,APRIL2010209DesignandControlofConcentric-TubeRobotsPierreE.Dupont,SeniorMember,IEEE,JesseLock,BrandonItkowitz,andEvanButler,StudentMember,IEEEAbstractAnovelapproachtowardconstructionofrobotsiscludesstraightflexibleneedlesthatareusedforpercutaneo
2、usbasedonaconcentriccombinationofprecurvedelastictubes.Byproceduresinsolidtissue.Theneedleissteeredalongacurvedrotationandextensionofthetubeswithrespecttoeachother,theirinsertionpathbytheapplicationoflateralforcesattheneedlecurvaturesinteractelasticallytopositionandorienttherobotsti
3、p,baseortipastheneedleisadvancedintothetissue.Sincetheaswellastocontroltherobotsshapealongitslength.Inthisap-proach,theflexibletubescompriseboththelinksandthejointsofneedleisinitiallystraight,bothbase-andtip-steeringmethodstherobot.Sincetheactuatorsattachtothetubesattheirproximalrely
4、ontissuereactionforcestoflextheneedlealongacurvedends,therobotitselfformsaslendercurvethatiswellsuitedforinsertionpath.Consequently,theseinstrumentspossessnoabil-minimallyinvasivemedicalprocedures.Thispaperdemonstratesitytoproducelateraltipmotionwithoutfurtherpenetrationintothepotent
5、ialofthistechnology.Designprinciplesarepresentedsolidtissue.andageneralkinematicmodelincorporatingtubebendingandtorsionisderived.Experimentaldemonstrationofreal-timeposi-Thesecondcategoryofinstrumentsiscomposedofastraight,tioncontrolusingthismodelisalsodescribed.stiffshaftwithanarti
6、culatedtip-mountedtool(e.g.,forceps).Bothhand-heldandroboticinstruments(e.g.,daVinci,IntuitiveIndexTermsContinuumrobots,flexiblearms,kinematics,medicalrobotsandsystems,telerobotics.Surgical,Inc.)[1]ofthistypeareincommonuseforminimallyinvasiveaccessofbodycavities(e.g.,chestorabdomen).
7、Theshaftmustfollowastraight-linepathfromtheentrypointoftheI.INTRODUCTIONbodytothesurgicalsite.LateralmotionofthetipdependsonINIMALLYinvasivemedicalproceduresinvolvethepivotingthestraightshaftaboutafulcrumtypicallylocatedatMmanipulationoftools,sensors,andprostheticdevicestheinsertion
8、pointintothebody.Th
