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.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Bartone, Joseph Ronald
• Pacheco, Nicholas Edward
• d'Almeida, Jesse Francisco
• Gulotta, Andrew James

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-051820-022303

Advisor

• Zhang, Haichong
• Fichera, Loris
• Fischer, Gregory S.

Year

• 2020

Date created

• 2020-05-18

Resource type

• Major Qualifying Project

Major

• Interdisciplinary
• Robotics Engineering

Rights statement

• In Copyright