Article | REF: S7767 V1

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

You do not have access to this resource.
Click here to request your free trial access!

Already subscribed? Log in!


Français

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...

You do not have access to this resource.

Exclusive to subscribers. 97% yet to be discovered!

You do not have access to this resource.
Click here to request your free trial access!

Already subscribed? Log in!


The Ultimate Scientific and Technical Reference

A Comprehensive Knowledge Base, with over 1,200 authors and 100 scientific advisors
+ More than 10,000 articles and 1,000 how-to sheets, over 800 new or updated articles every year
From design to prototyping, right through to industrialization, the reference for securing the development of your industrial projects

This article is included in

Healthcare technologies

This offer includes:

Knowledge Base

Updated and enriched with articles validated by our scientific committees

Services

A set of exclusive tools to complement the resources

Practical Path

Operational and didactic, to guarantee the acquisition of transversal skills

Doc & Quiz

Interactive articles with quizzes, for constructive reading

Subscribe now!

Ongoing reading
Design