Design and Control of Continuum Robots for Minimally Invasive Surgical Applications

Flexible robots are a rapidly expanding research field. From industrial to exploration applications, flexible robots can provide significant benefits compared to conventional robots. Their properties are also appealing for the development of surgical instrumentation. Thanks to their superior dexterity these devices can reach places that are otherwise inaccessible to the surgeon, paving the way for new and less invasive interventions. However, continuum robots require radically different controllers from those used in conventional rigid robots (rigid vs. compliant – localized joints vs. continuum deformation). In addition, in minimally invasive surgeries, the robot’s environment is invariably complex and deformable. The robot can thus not be treated isolated from its environment. This thesis investigates the design and control of flexible continuum robots for minimally invasive surgical applications.

Jaar van publicatie:2017

Toegankelijkheid:Closed