Continuous Redundant Laparoscope Cable Robot

Laparoscopé cable robot with external continuous redundant actuation

This is prototype is the development of a laparoscope cable continuous redundant manipulator based on a constant-curvature robotic model. The prototype consists of two segments with six modular sections, actuated by six tension cables, each driven by a winch actuator.

The system was tested in a simulated physical environment representing the abdominopelvic cavity. Inverse kinematics were implemented to relate the system variables using MATLAB and Arduino, while manipulation was achieved through a joystick interface and PID control.

The evaluation focused on determining the accuracy and performance of the experimental prototype by comparing it with the constant-curvature kinematic model, recording the end-effector position, cable length variations, curvature, and angular displacement during motion.

Countries & Year

Colombia - 2022

Authors

Hernando Leon-Rodriguez
Camila Valentina Osorio Peña
Laura Catalina Lopez Riaño
Julian David Medina Alfonso
Mario Fernando Jimenez Hernandez