Kinematics of Three Segment Continuum Robot for Surgical Application

We propose a design of a multi-segment continuum robot with inherent compliance and flexibility for minimally invasive surgical applications. The multi-segment continuum robot can be guided, with high dexterity, through complex curvilinear paths. Thus, they are ideal for endoscopic and surgical procedures. In this paper, we are discussing the kinematics of a three-segment tendon-driven continuum robot. We derived the forward and inverse kinematics for the proposed continuum robot, show the workspace analysis and quantify the robot reach and dexterity. Further, we discuss the kinematic advantages and disadvantages of tendon-driven three-segment continuum robot versus double-segment continuum robot.