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1. RTC presentation and modeling
In this section, a presentation of RTCs is given, followed by their modeling. The various models developed are described in detail, taking into account the mechanical, geometrical and kinematic characteristics of RTCs.
1.1 RTC presentation
A concentric tube robot (CTR) is a continuous-type robotic architecture with a drive unit (UA) at the base of the robot (referred to as "remote") and a mechanical structure made up of flexible tubes, each of which may have a straight part (L
i
, i is the ith tube, i
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RTC presentation and modeling
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