Design of Unhinged Compliant Mechanism to Enable Bistable Segments in Continuum Robots

Abstract

Abstract Continuum robots have seen increased utilization in various fields such as aerospace, rescue operations, human interaction, and especially medicine. More specifically, in medicine, continuum robots have enabled minimally invasive surgeries and faster patient recovery time. However, the design of continuum robots needs to be improved, especially by enhancing or incorporating characteristics that improve functionality across various applications. This paper explores different mechanisms, including bistable, compliant, and lamina emergent mechanisms, to achieve these design goals. Specifically compliant bistable mechanisms which can store energy when deformed and utilize this energy to transition from one state to another have shown significant promise for the design of continuum robots. In this paper we explore the characteristics and functions associated with compliant bistable mechanisms and their potential integration in device designs, we review the design process for adapting compliant bistable mechanisms to continuum robots, highlighting the challenges and considerations involved. We also present two examples of applications to continuum robot designs that demonstrate the potential of compliant mechanisms for creating varied functionality for a number of applications. By understanding the capabilities and limitations of compliant mechanisms, we can advance the design of continuum robots, which presents a significant opportunity for innovation and progress in the field of medical device design.