Nasopharyngeal carcinoma is a malignant tumor originating from the nasal mucosa. It is a malignant tumor of the head and neck. Concentric tube robot (CTR), as it can form a complicated shape and access hardto-reach lesions, is often used in minimally invasive surgeries. However, some CTRs are bulky because of their transmission design. In this paper, a light CTR based on double-threaded helical gear tube is proposed. Such a CTR is less cumbersome than the traditional CTR as its actuation unit is compact and miniaturized. The mapping relationship between the gear tube attitude and motor output angle is obtained by kinematic analysis. The precision, stability, and repeatability of the driving mechanism are tested. The experimental results show that the positioning error in the translation test is less than 0.3 mm, the rolling angle error in the stability test is less than 0.6?, and the error in the translation repeatability test is less than 0.005 mm. Finally, a tip-targeting test is performed using the new CTR, which verifies the feasibility of the CTR for surgeries.
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