Caturo: Redefining Concentric Tube Robotics

Medical robotics has witnessed remarkable advancements in recent years, with concentric tube robots (CTRs) at the forefront of minimally invasive surgery. Traditionally, CTRs have relied on Nitinol for its superelastic properties and biocompatibility. However, my latest research introduces a groundbreaking innovation: Caturo, a sub-millimeter diameter glass-polymer concentric tube robot, offering unprecedented flexibility, high curvature, and enhanced adaptability. This is the smallest CTR in the literature and the first that is made of glass backbone

Breaking Boundaries with Glass-Polymer Composites

The development of Caturo is driven by the need for enhanced dexterity, lower friction, and greater ease in shape-setting compared to conventional Nitinol-based CTRs. By leveraging glass-polymer composite tubes, we have successfully achieved a radius of curvature as low as 5mm using a 90µm , setting a new benchmark for precision and maneuverability in confined surgical spaces. Beside is a deployment operation, showing the deformation of the robot taking the curvature shape of a 10 euro coin. Other demonstrations of the robot include: 3D Helical Pre-Curved Tube Deployment, Conical-Spiral Path Navigation, Needle-Orifice Constrained Deployment. These capabilities enable Caturo to navigate delicate anatomical structures with unprecedented precision, opening new possibilities for procedures such as vitreoretinal surgery, optical biopsy, and minimally invasive therapeutic interventions