A Kind of Kinematics Modeling of 2 DOFs Notched Continuum Manipulator

It’s difficult for traditional rigid manipulators to complete relevant operations in the single port laparoscopic. The notched continuum manipulator owns the features of flexibility and biocompatibility which can make it possible applied in the single port laparoscopic. A kinematics modeling similar to the constant-curvature approximations is proposed in this paper. It can be utilized to describe the mapping relationship between the length change value of two driven wires and the end position. This method simplifies the complexity of kinematic modeling. And it makes the control method of the continuum manipulator easier to achieve as well. The accuracy of the model has been verified by the prototype.