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  4. Design of a Modular, Multi-Arm Concentric Tube Robot Featuring Roller Gears

Design of a Modular, Multi-Arm Concentric Tube Robot Featuring Roller Gears

AUTHORS

Florea Adrian N. , Ropella Dominick S. , Amanov Emar , Herrell S. Duke , Webster Robert J. . Proc. SPIE 12034, Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling.

ABSTRACT

This paper describes the design of a modular concentric tube robot actuation system featuring roller gears. We extended prior work in a single-arm system within the literature to a two-arm system. We present mechanical design and initial performance verification experiments, including two-handed manipulation experiments for the proposed system. The overarching contribution is a modular, potentially low cost, approach to the actuation of multi-arm concentric tube robot systems.

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