A S shape continuum robot with a single actuation structured by NiTi slices

Abstract

In recent years, the dexterous continuum robots have been widely researched and developed rapidly as their well capability of distal dexterity, the compact structure and the excellent intrinsic compliance with environment. Especially, the continuum robots that could bend to planar S shape are known to have great advantages in contacting target tissues and avoiding the obstacles, which mean significant importance in minimally invasive field. Meanwhile, the rigidity requirement of continuum robots seems especially important during the Minimally Invasive Surgery (MIS). In this paper, we introduced a novel S shape continuum robot with a single actuation structured by NiTi slices, which also contain notches that could pass drive wires of the surgical instrument to achieve surgical requirements. The designed continuum robot could bend to planar S shape as expected, its external diameter is 7mm and length is 57.5mm. The load capacity of distal tip could meet the surgical requirement at maximal deformation, which has been verified by experiments.