Modeling and experimental analysis of wire-driven continuum surgical robot.

A new configuration of continuum surgical robot is proposed, whose skeleton is composed of inner and outer layers. The outer layer is composed of miniature rotating modules connected in series and connected by orthogonal hinges, which can ensure the ability to resist unconventional torsion without losing the degree of freedom. The inner layer is a central support column with superelasticity. When bending, its superelasticity can make the overall configuration biased toward constant curvature bending, which is convenient for motion control and according to the new configuration, this paper establishes the kinematics model of the robot. Finally, the motion control experiment of the continuum robot is carried out. After the experiment, the average positioning error of the robot is 2.674 mm, and the average repetitive positioning error is 2.625 mm. Both are less than 2 of the robot length, verifying the accuracy of the model.