Manual Continuum Snake-like Tube Tool Platform: A Low-Cost Solution with Intuitive Operation*1

Working in narrow and complex spaces is a critical area of focus in industries and medical field. The development of tool for complex confined spaces has primarily concentrated on high-value sectors such as healthcare. Existing solutions with high flexibility and intuitive operation are generally not well-suited for occasional demands. This paper proposes a low-cost multi-purpose work platform for this pain point. It utilizes a motorless manual cable-driven structure, offering higher operational flexibility and intuitiveness compared to traditional segmented control methods used in continuum robots. An intuitive controller is designed based on the instantaneous center concept, and employed a self-decoupled orthogonal layout. The internal and external continuum tubes can switch between rigid and limp modes using the conjugate locking device, enabling the platform to encase nonlinear paths in 3D space with alternating stiffness. To compensate for inevitable small variations in cable lengths within the same cable set, an adjustable passive segmented force control mechanism is designed, which can enhance the safety of platform movements. The proposed work platform can be integrated with existing tools such as endoscopes, offering a versatile, scalable and low-cost solution for complex confined space operations.