This thesis presents an open-source concentric tube robot (CTR) that utilizes 3D-printed and other easy-to-source components. CTRs are typically made of Nickel-Titanium, a special metal alloy that can be expensive to source and difficult to process. Until now, R\&D on concentric tube manipulators has been carried out primarily in academic institutions, and only in a limited number of centers. This thesis seeks to lower the barrier to entry for researchers and scholars who wish to study CTRs. The contribution of this thesis is twofold: (1) we investigate the viability of fabricating concentric tube manipulator using additive manufacturing materials (as opposed to Nickel-Titanium); and (2) we provide an open-source CTR design that can be manufactured and assembled using easily sourced components.

Creator

• d'Almeida, Jesse F.

Contributors

• Fichera, Loris
• Calli, Berk
• Lewin, Greg

Degree

• MS

Unit

• Robotics Engineering

Publisher

• Worcester Polytechnic Institute

Identifier

• etd-22426

Keyword

• Surgical Robotics
• Educational Prototype
• Concentric Tube Manipulator
• Open-source
• Concentric Tube Robot
• 3D-Printing

Advisor

• Fichera, Loris

Orcid

• https://orcid.org/0000-0001-8496-0217

Committee

• Calli, Berk
• Lewin, Gregory

Defense date

• 2021-04-21

Year

• 2021

Sponsor

• Dr. Glenn Yee

Date created

• 2021-05-05

Resource type

• Thesis

Rights statement

• In Copyright

Last modified

• 2023-09-27