# 统一连续体机器人驱动平台的设计与表征

> 原文链接：https://robotics.hellobike.com/papers/2026-10-14-2610-19798
> 频道：papers | 更新日期：2026-10-14 | 标签：arxiv, cs.RO
> 核心摘要：本文提出解耦硬软件与连续体设计的统一驱动平台，并在开源手术机器人系统及两类手术用例中实验验证。

# 统一连续体机器人驱动平台的设计与表征

::: v-pre
> 原文链接：[Design and Characterization of a Unified Continuum Robot Actuation Platform](https://arxiv.org/abs/2610.19798)（arXiv 2610.19798 · 发布日期：2026-10-14）

**Design and Characterization of a Unified Continuum Robot Actuation Platform**

本文提出解耦硬软件与连续体设计的统一驱动平台，并在开源手术机器人系统及两类手术用例中实验验证。

## 核心要点

- 连续体机器人驱动常为特定架构和任务定制，限制跨论文、机构和应用复用。
- 平台将驱动硬件和软件与机器人设计解耦，支持模块化、多自由度和混合架构。
- 在开源手术机器人系统上表征模块，30 mm和180°范围内误差达亚毫米与小于5°。
- 展示受限环境连续体相机遥操作和双手操作，并开源硬件设计与ROS软件。

**验证范围与局限**：验证范围包括一个开源手术机器人系统、驱动模块表征和两个手术用例。

## 英文摘要 (Abstract)

Continuum robots enable dexterous access to confined spaces in applications such as minimally invasive surgery and industrial inspection. However, their actuation systems are often custom-designed for specific robot architectures and tasks, limiting reuse across publications, institutions, and applications. This paper presents a unified actuation platform that decouples actuation hardware and software from continuum robot design. The platform provides modular actuation across continuum robot classes, scales to a large number of degrees of freedom (DOFs), and integrates with conventional serial manipulators for hybrid architectures. We validate the platform on an open-sourced surgical robotic system and experimentally characterize the actuation modules, achieving sub-millimeter translational accuracy and less than $5^\circ$ rotational error over ranges of $30$~mm and $180^\circ$, respectively. We further demonstrate the platform in two surgical use cases: teleoperation of a continuum camera in a constrained environment and bimanual manipulation using $2.53$~mm concentric-tube-robot-based forceps alongside a conventional wristed instrument. All hardware designs and ROS-based software are open-sourced to facilitate reuse and further research in continuum and surgical robotics.

作者：Yunti Xu, Aedan Mangan, Miheer Potdar, Alex Lu, Tania K. Morimoto
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## 原始参考来源 (Sources)

- [arXiv 2610.19798：Design and Characterization of a Unified Continuum Robot Actuation Platform](https://arxiv.org/abs/2610.19798)