TABLE.

Concentric Tube Robot Design Parameters and Corresponding Error Predictions

	Helically Precurved Tube			Ablation Probe
Patient No.	Max Length, mm	Curvature, m−1	Torsion, m−1	Maximum Length, mm	Mean Error, mm
1 Left	42.0	40.7	95.2	60.8	0.84
1 Right	47.6	60.8	−110.4	65.6	0.67
2 Left	56.2	78.3	107.0	71.2	0.81
2 Right	56.0	83.9	−118.0	65.0	1.26
3 Left	52.8	49.7	94.9	60.6	0.74
3 Right	42.6	44.9	−112.9	51.9	1.14
4 Left	46.3	50.6	84.1	63.1	0.59
4 Right	50.0	55.1	−102.8	61.1	0.55
5 Left	33.8	43.6	92.5	57.4	0.86
5 Right	45.5	57.0	−111.3	58.9	1.26
6 Left	48.3	39.9	102.7	58.1	1.49
6 Right	47.2	29.9	−101.5	54.9	1.62
7 Left	58.7	32.4	72.2	64.8	1.43
7 Right	56.5	34.1	−84.7	62.0	0.90
8 Left	58.2	39.5	77.8	63.6	1.17
8 Right	48.5	48.9	−114.0	62.3	1.64
9 Left	58.4	62.3	102.1	64.9	1.59
9 Right	52.6	59.0	−125.8	62.4	1.66
10 Left	55.0	32.9	62.9	63.5	0.90
10 Right	55.2	36.8	−91.2	63.3	1.03