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2. Design
An RTC consists mainly of two parts: a remote actuation unit (UA), which rotates and/or translates the tubes, and a second, end-member manipulator made up of flexible tubes (robot arm). In order to accomplish a task, the integration of other instruments and sensors may be required for handling and gripping.
This section presents the most representative of all existing RTC prototypes (Table 2 ) in terms of UA structure, optimization and tube size selection.
2.1 Actuator unit (UA)
Since the concept of RTCs was created, several tube actuation mechanisms have been proposed. These mechanisms are presented according to the UA structure, which can be serial or parallel. Figures...
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Design
Control of concentric tube robots
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