Cooperative Continuum Robots: Concept, Modeling, and Workspace Analysis

In this letter, we present cooperative continuum robot (CCR) concept, kineto-static analysis, and model validation. Our motivation is to provide increased reachability and maneuverability required in a wide range of continuum robot applications, such as medical interventions. We present a model for the CCR with a minimum number of unknown parameters by formulating the governing equations of each continuum robot in the local frame. The obtained equations are then reformulated in a scaled and nondimensional iterative scheme, leading to a computationally stable and efficient model of the CCR, at rates that enable real-time simulation, design optimization, and control. As a case study, a coupled catheters system is chosen to perform the experimental verifications of the proposed CCR model. Simulations are also conducted to evaluate the enhancement of the workspace and dexterity of the CCR.