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<p>Mutual coupling between multiple tubes of the Concentric Tube Robot (CTR) increases the nonlinearity of the motion and makes high-resolution manipulation difficult. In this paper, a novel motion mode for CTR is proposed, which leverages the coupling between tubes to produce micro-movements of the tip. An additional pre-bent inner tube is inserted into the CTR to adjust the stiffness of the robot. When this inner tube is actuated while the outer tubes remain fixed, its elastic interaction with the surrounding tubes induces coupled bending deformation, resulting in controllable micro-movements of the tip. Then, a static-based kinematic model is formulated to describe the coupled motion of the CTR, taking into account torsional effects and concentrated frictional moments. The curvature of each tube is solved under two-point boundary conditions to accurately predict the resulting tip displacement. Then, the established model is employed to control the coupled motion of the CTR, enabling high-resolution manipulation during surgical procedures. Finally, the simulation and experimental results show that the average motion error of the model established in this paper is 1.1 mm, which is lower than the error of the conventional model. Simulation results reveal that the resolution can be adjusted in the range of 0–1.68 mm/deg. Experimental findings indicate that the coupled motion control resolution is 0.34 mm/deg at 45&#xa0;450 N<InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\cdot \)</EquationSource> <EquationSource Format="MATHML"><math> <mo>·</mo> </math></EquationSource> </InlineEquation>mm<InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(^2\)</EquationSource> <EquationSource Format="MATHML"><math> <mmultiscripts> <mrow /> <mrow /> <mn>2</mn> </mmultiscripts> </math></EquationSource> </InlineEquation> stiffness, which is higher than that of the ordinary mode. The proposed approach is expected to advance the capabilities of CTR in performing precise and delicate surgical procedures in confined spaces.</p>

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Leveraging coupled motion for high-resolution manipulation of concentric tube robots in surgical procedures

  • 期刊论文

  • 发表日期：

    2026年2月25日

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  • Yao Wang,
  • Gang Zhang,
  • Peng Zhang,
  • Tianxiang Liu,
  • Hangxing Wei,
  • Fuxin Du,
  • Yibin Li,
  • Rui Song

摘要

Mutual coupling between multiple tubes of the Concentric Tube Robot (CTR) increases the nonlinearity of the motion and makes high-resolution manipulation difficult. In this paper, a novel motion mode for CTR is proposed, which leverages the coupling between tubes to produce micro-movements of the tip. An additional pre-bent inner tube is inserted into the CTR to adjust the stiffness of the robot. When this inner tube is actuated while the outer tubes remain fixed, its elastic interaction with the surrounding tubes induces coupled bending deformation, resulting in controllable micro-movements of the tip. Then, a static-based kinematic model is formulated to describe the coupled motion of the CTR, taking into account torsional effects and concentrated frictional moments. The curvature of each tube is solved under two-point boundary conditions to accurately predict the resulting tip displacement. Then, the established model is employed to control the coupled motion of the CTR, enabling high-resolution manipulation during surgical procedures. Finally, the simulation and experimental results show that the average motion error of the model established in this paper is 1.1 mm, which is lower than the error of the conventional model. Simulation results reveal that the resolution can be adjusted in the range of 0–1.68 mm/deg. Experimental findings indicate that the coupled motion control resolution is 0.34 mm/deg at 45 450 N \(\cdot \) · mm \(^2\) 2 stiffness, which is higher than that of the ordinary mode. The proposed approach is expected to advance the capabilities of CTR in performing precise and delicate surgical procedures in confined spaces.