SCREAM 2.0: Super-elastic Continuum Robot for Endoscopic Articulation and Manipulation Public
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The objective of this project is to investigate robotic platforms to enhance a physician’s dexterity in minimally invasive endoscopic surgery. We designed and constructed a continuum robotic manipulator consisting of two concentric notched tubes capable of providing pan and tilt degrees of freedom. Building the manipulator out of tubes enables the passage of a variety of surgical instruments through the tubes’ open lumen. Control of the robot is based on its inverse kinematics, which is approximated taking advantage of the geometry of the robot to iteratively and efficiently converge on the desired solution. We report on experimental evidence that verifies the positional accuracy of the robot.
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