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Concentric Tube Robots (CTRs) have been proposed to operate within theunstructured environment for minimally invasive surgeries. In this letter, weconsider the operation scenario where the tubes travel inside the channels witha large clearance or large curvature, such as aortas or industrial pipes.Accurate kinematic modeling of CTRs is required for the development of advancedcontrol and sensing algorithms. To this end, we extended the conventional CTRkinematics model to a more general case with large tube-to-tube clearance andlarge centerline curvature. Numerical simulations and experimental validationsare conducted to compare our model with respect to the conventional CTRkinematic model. In the physical experiments, our proposed model achieved a tipposition error of 1.53 mm in the 2D planer case and 4.36 mm in 3D case,outperforming the state-of-the-art model by 71% and 66%, respectively.

Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature