3D Manipulation of 6DOF Tendon Driven Continuum Robot for Surgical Applications
"3D Manipulation of 6DOF Tendon Driven Continuum Robot for Surgical Applications" paper ID-322 Video demonstrate the combined 3D manipulation simulation of the tendon-driven three-segment continuum robot. Following motion of the robot included in the simulation.1. Robot insertion:2. Point to point motion3. Tool center point motion The geometric model of an tendon driven three segment continuum robot used to show the motion simulation. Each segment is four tendon driven with the help of two motors. In the presented simulation the continuum robot follows a 3D curved trajectory (in red color) through which the robot insertion has been simulated using the follow the leader approach. Once the robot tip is reached to the end of the FTL trajectory. The point to point (PTP) motion trajectory has been followed. The PTP trajectory(in green color) is generated in configuration space of the robot between the robot configuration at end of FTL motion and the robot configuration corresponding to the starting point of the task space spiral trajectory used in the simulation (in blue color).In the TCP motion simulation robot end tip successfully track the given spiral trajectory with a given fixed orientation. In the simulation the base of the continuum robot is attached on a flexible non-steerable support section. Throughout the simulation, the computed joint parameters i.e. the tendon length variation for actuation are discussed in the paper. The presented simulation video is generated from the MATLAB simulation.
Cite as: "S. Bamoriya, V. Gedam and C. S. Kumar, "3D Manipulation of 6DOF Tendon Driven Continuum Robot for Surgical Applications," 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Heidelberg, Germany, 2024, pp. 1523-1528, doi: 10.1109/BioRob60516.2024.10719893."