Design and Simulation Research of Wire-Driven Continuum Minimally Invasive Surgical Robot

Abstract

Aiming at the problems of small and variable surgical space segmentation and insufficient dexterity of surgical robots, this paper designs a small and flexible line-driven continuum surgical robot. Firstly, each part of the robot is described; then, the kinematics analysis of the controllable bending bone segment is carried out, and the analysis results are simulated by using MATLAB software, and the operation space pose of different driving line changes of the controllable bending bone segment is obtained; finally, The Monte Carlo method workspace is used for simulation analysis. According to the research results, it is verified that the robot can bend flexibly and supplely, which is suitable for complex small surgery scenarios.