Shape Control of the Cable-Driven Flexible Tube in a Bronchoscope Robotics System

addressing the challenge of diagnosing pulmonary nodules, this study delves into the development of an intervention robotic system that base on bronchoscope technology. To ensure the precision of the system’s operation, a comprehensive mathematical framework is formulated first. The system is primarily actuated by a set of four cables, which enable the manipulation of the flexible tube to achieve desired configurations. Subsequently, a controller for shape, length, and torque is engineered, enabling the manipulation of the flexible machine’s configuration through the adjustment of cable lengths, which are actuated by the toque of the motors. Simultaneously, the theoretical validation of the closed-loop system’s stability is established, and the efficacy of the devised approach is confirmed via numerical simulations.