Design and uncalibrated visual servoing of a 3-section continuum robot

Abstract

Continuum robot, a snake-like robot with flexible backbone, has unique potential for minimally invasive surgery. A 3-section continuum robot is designed using a single super elastic nitinol rod as the main backbone and steel wires for the twelve tendons that pass though flexible tube. The continuum robot often has to pass a complex anatomic channel and work in a limited environment. Due to uncertainties in the environment as well as those caused by the contact force applied by tissues, the kinematics model of continuum robot and parameters of camera are not always accurate. Thus, an uncalibrated visual servoing system is proposed. The system could assist the surgeon in guiding the robot to the desired position by digital pen. Simulation experiments are performed to demonstrate the proposed approach.