Custom Shape Formation in Continuum Robots Using Compliant Bistable Segments for Medical Applications

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Abstract
To advance the application of continuum robots in the medical field, this study proposes the integration of compliant bi‐stability in continuum robots to enable the ability to form custom shapes. The process includes designing a compliant bistable mechanism (CBM), deconstructing a ball‐joint‐based continuum robot segment, and then integrating the two. This allows the resultant continuum segment to become bistable. Two versions of this CBM‐integrated continuum segment arose from the design process: an “Extending” version that improves the effective length and reachability of the segments, and a “Locking” version that locks certain regions and enhances stiffness. When used together, these two segment types enable the CBM‐based continuum robot to demonstrate mechanical intelligence by achieving custom shapes in different configurations through passive mechanical design. The paper also presents an analytical model to characterize the CBM. Simulation and experimental results for the segments establish a 50% increase in workspace by using the extending segment. Using the locking segment results in an 80% to 100% increase in stiffness. A shape formation test for a liver biopsy procedure shows a decrease of 61% in the tip‐to‐target deviation, demonstrating a potential application for minimally invasive surgeries.
Funding Information
  • National Research Foundation of Korea (RS‐2021‐NR059747)
  • Ministry of Trade, Industry and Energy (20023168)
  • Ministry of Trade, Industry and Energy (RS‐2024‐00423853)

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