Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought

The compound continuum robot employs both concentric tube components and cable-driven to achieve its complex motions. Nevertheless, the interaction between these causes coupling, which inevitably leads reduced accuracy. Consequently, researchers have been striving mitigate compensate for this coupling-induced error in order enhance overall performance of robot. This paper leverages coupling accomplish specific surgical procedures. Specifically, internal component is utilized induce motion external component, generates coupled under constraints cable. approach enables realization high-precision operations. a kinematic model proposed established, an inverse algorithm developed. In algorithm, solution highly nonlinear system equations simplified into single equation. To demonstrate effectiveness approach, simulations are conducted evaluate efficiency algorithm. study indicate that (IK) improves computational speed by significant margin. it achieves speedup 2.8 × 103 over Levenberg–Marquardt (LM) method. addition, experimental results coupled-motion high levels repetitive positioning accuracy measured be 0.9 mm, tracking 1.5 mm. dealing with