Remote Actuation of Concentric Tube Robots Using Torque Cables

Abstract

The precision and flexibility of Concentric Tube Robots (CTRs) makes them well-suited for delicate surgeries and complex tasks in constrained environments, such as minimally invasive procedures. However, traditional CTRs can be bulky, as actuation typically requires multiple motors directly connected to the individual tubes. To reduce the system’s footprint, this paper proposes and evaluates remote actuation (from 1 m away) of concentric tubes using torque cables. First, we investigate the theoretical framework influencing torque transmission. Second, on a two-tube, balanced pair CTR prototype, we demonstrate the method’s performance in terms of tracing target positions and overall teleoperation ability. This study highlights the advantages and challenges of remote actuation, addressing key considerations and trade-offs when implementing this approach, and, critically, allows for miniaturising CTRs to deploy them closer to the target site without being limited by bulky actuation units.