外观
论文arXiv 2610.1979814 天前
统一连续体机器人驱动平台的设计与表征
原文链接：Design and Characterization of a Unified Continuum Robot Actuation Platform（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
来源
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