Kinematic analysis and navigation method of a cable-driven continuum robot used for minimally invasive surgery.

Abstract

Due to the outstanding compliance and dexterity, continuum robot have great advantages in confined space applications, especially in minimally invasive surgery (MIS). However, the vascular environment is complicated and tortuous, it is necessary to preoperative motion planning and navigation for a continuum robot. A cable-driven continuum robot is proposed, and the mapping relationship among the driven space, joint space and task space, as well as the decoupling algorithm are analyzed based on piecewise constant curvature assumption. Moreover, a navigation method is presented to achieve semi-autonomous interventional surgery based on the vascular constraints by using the backbone cure method. Finally, by using the prototype, the interventional simulations and experiments for a simulated glass blood vessel are developed to validate the feasibility and maneuverability of the proposed model and navigation method. The established motion model and navigation method can be used as a motion control and navigation reference.