Development and initial testing of a prototype concentric tube robot for surgical interventions

The development and initial testing of a prototype concentric tube robot suitable for surgical applications is presented. The system is endowed with 3 degrees-of-freedom and consists of a three concentric tubes assembly and an actuation module. Design issues are discussed in a general context of concentric tube robots in view of their potential applications in surgery. Among the distinct features of the system is that the actuation module provides a mechanical decoupling between the available motions that effectively facilitates control of the device. Such robotic systems are considered particularly suitable for MR- guided interventions and compatibility issues with the specific imaging modality are discussed. Initial experimental testing of the device is presented which involved tip targeting and steering trials using direct visual feedback for guidance.