The thesis will initially involve research on the literature of concentric tube robots and the different ways of actuation proposed by various authors. An evaluation of the methods will follow along with the choice of actuation of the prototype that will be designed. The aim is for the design process to be as motivated as possible with the joint purpose of accuracy, simplicity and cost-effectiveness.
After this decision process the actual building of the prototype will take place which will involve pinpointing the suitable components and assembling them, 3D modelling and printing of various structural components of the design, software development for the communication and control of the robot with the user and finally testing the prototype accuracy through a series of tests using an electromagnetic tracking sensor.