Optimising the Accuracy of Concentric Tube Robots: Using Vibration Friction Reduction.

BACKGROUND

The concentric tube robots (CTRs) show great potential for minimally invasive surgery due to their size and flexibility. However, friction remains a key factor contributing to accuracy errors in CTR applications, and reducing friction effects to enhance CTRs' precision remains a critical challenge.

METHODS

This paper pioneers the application of a vibration friction reduction (VFR) method for CTRs, aiming to reduce inter-tube friction and improve system accuracy. First, a CTR system with VFR was designed, incorporating a vibration generator consisting of four vibration motors and a 3D-printed component. Then, to better test and analyse the effects of vibration on friction, a variable-friction coefficient kinematic model for CTRs was established. Finally, experiments were conducted to validate the approach.

RESULTS

The results show that the VFR method can reduce the positional error of CTRs by approximately 36.5%.

CONCLUSION

This paper provides a new approach to enhance CTRs' accuracy in surgical applications.