Optimization of Dexterity for Continuous Robot Aimed at Intestinal Surgery

Human intestine is characterized by a narrow, long, and flexible structure, which is challenging for continuous robots to achieve surgical tasks. Suppose the size parameters are different from the standard. In that case, the continuous robot will cause damage to the intestines or fail to meet the operational requirements of the operation during the operation and inspection tasks. This paper analyzes the reachable task space and dexterity model of the continuum robot, optimizes the parameters of the continuum robot based on the reachable task space and dexterity index, and discusses the impact of the number of nodes on the workspace when the robot runs in a narrow environment. In addition, a collision and minimum obstacle avoidance method is used in optimizing the task. Our method improves the dexterity and safety of the continuous robot operating in the intestinal environment.