Concentric Tube Robot Actuation Units

This web page is a resource on the concentric tube robot tube sets and actuation units that have been proposed to date in the literature. It is kept up-to-date on a regular basis. If you are making use of the information provided in these tables, please cite our associated paper (https://doi.org/10.1109/TRO.2023.3255512).
For any request, please send an email to cedric.girerd@lirmm.fr.