Design and Fabrication of Concentric Tube Robots: A Survey

Abstract

Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small size, flexibility, and high dexterity enable several potential benefits for MIS. Research has led to an increasing number of discoveries and scientific breakthroughs in CTR design, fabrication, control, and applications. Numerous prototypes have emerged from different research groups, each with their own design and specifications. This survey paper provides an overview of the state-of-the-art of the mechatronics aspects of CTRs, including approaches for the design and fabrication of the tubes, actuation unit, and end effector. In addition to the various hardware and associated fabrication methods, we propose to the research community, a unifying way of classifying CTRs based on their actuation unit architecture, as well as a set of specification details for evaluation of future CTR prototypes. Finally, we also aim to highlight the current advancements, challenges, and perspectives of CTR design and fabrication.

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

“…At this juncture, we again recall that Nwafor et al identified a gap in the design and fabrication methods within the concentric rube robots (CTR) class and made commendable efforts to address this demand [68]. Inspired by [68] and recognizing the efforts of the Open Continuum Laboratory, University of Toronto in supporting CR development globally, we have undertaken a literature survey on the fabrication of tendon-driven continuum robots (TDCRs), while discussing their suitability for aerial manipulation, including multi-link backbone TDCRs. This survey aims to fill another segment of the literature gap, focusing on TDCRs.…”

“…Each type of continuum robot (CR) boasts a distinctive design (in this work, the term 'design' is used to refer the CR's structural aspects only), along with its unique strengths, limitations, and capabilities. The CTRs stamped their strong utilization in the medical industry [61,67,68] and many high-tech medical industries adopted them for surgical equipment and system development. CTRs feature specially-treated and manufactured hollow tubular profiles, where a single tube or multiple concentrically arranged tubes function as the manipulator.…”

“…CTRs feature specially-treated and manufactured hollow tubular profiles, where a single tube or multiple concentrically arranged tubes function as the manipulator. The driving mechanisms for CTRs typically involve motordriven lead screws or linear track and pinion mechanisms [68]. However, these mechanisms are complex, and the driving compartment that encapsulates them is bulky compared to those in tendon-driven continuum robots (TDCRs).…”

“…In most cases, the tendons of TDCRs and rods of RDCRs are actuated by electrical motors, serving as force transmitters from the driving motors [69]. Some innovative designs integrate the electro-mechanical and control aspects of both CTRs and TDCRs [68]. Figure 4 provides a classification of TDCRs under two major categories based on the backbone design: (1) continuous backbone TDCRs and (2) multi-link backbone TDCRs.…”

“…Considering the aforementioned facts, we believe the tendon-driven design excluding the fluid pressure-supported designs can be more suitable for CAAMSs. In this context, there is a recent survey covering the design and fabrication methods of CTRs [68], which is useful in providing the design and fabrication details of CTRs. Therefore, our focus mainly concentrates on studying TDCRs for aerial manipulation systems.…”