Zhang, Zhouyu Shen, Jia Ha, Junhyoung Chen, Yue 2024-03-28T07:30:10Z 2024-03-28T07:30:10Z 2024-03-28 2024-03 https://pubs.kist.re.kr/handle/201004/149537 Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large clearance or impulse curvature, such as aortas or industrial pipes. Accurate kinematic modeling of CTRs is required for the development of motion planning and control within these operation scenarios. To this end, we extended the conventional CTR kinematics model to a more general case with large tube-to-tube clearance and impulse centerline curvature. Numerical simulations and experimental validations are conducted to compare our model with respect to the conventional CTR kinematic model. In the physical experiments, our proposed model achieved a tip position error of 1.53 mm in the 2D planer case and 3.86 mm in 3D case, outperforming the state-of-the-art model by 71% and 61%, respectively. English Institute of Electrical and Electronics Engineers Inc. Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature Article 10.1109/LRA.2024.3351000 1 IEEE Robotics and Automation Letters, v.9, no.3, pp.2407 - 2414 IEEE Robotics and Automation Letters 9 3 2407 2414 N scie scopus 001167554600011 2-s2.0-85182377133 Robotics Robotics Article kinematic modeling clearance curvature Electron tubes Kinematics Mathematical models Three-dimensional displays Shape Robot kinematics Boundary conditions Concentric tube robot