Framework of modelling concentric tube robot and comparison on computational efficiency

Research output: Contribution to journalArticleResearchpeer-review

1 Citation (Scopus)


The continuum concentric tube robots (CCTRs) are infinite degree-of-freedom robots with elastic structure. The CCTRs have no distinct links/dedicated backbones and joints as the rigid-link robots and conventional continuum robots do. Their simple and flexible structure, along with the capability to be navigated actively, can benefit minimally-invasive surgical applications. However, modelling of the CCTRs is challenging due to the compliance of structure, and a significant number of frames involved. A framework is developed in this work, linking two modelling approaches. Furthermore, two variations of modelling approaches are derived by treating the key equations in different ways. The computational efficiencies of four modelling approaches are compared, in terms of the overall iteration time, number of iterations and the time for single iteration. The effect of iteration accuracy and step size on computational efficiency are investigated as well.

Original languageEnglish
Pages (from-to)2201-2217
Number of pages17
Issue number9
Publication statusPublished - 2017


  • Computational efficiency
  • Concentric tube robot
  • Continuum robot
  • Kinetostatic modelling
  • Minimally invasive surgery

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