Compound continuum robot for skull base tumor resection and control method therefor

Abstract

A compound continuum robot for skull base tumor resection and a control method therefor. The robot includes a fixed base module, and a continuum mechanism, a notched continuum control mechanism, a concentric tube driving mechanism and a forceps opening and closing control mechanism which are arranged on the fixed base module. The continuum mechanism is sequentially composed of a concentric tube continuum mechanism and a notched continuum mechanism from interior to exterior, a bending motion and a rotating motion of the notched continuum mechanism are controlled by the notched continuum control mechanism, feeding and rotating motions of the concentric tube continuum mechanism are controlled by the concentric tube driving mechanism, and feeding and rotating motions of a forceps opening and closing control mechanism steel cable are controlled by the forceps opening and closing control mechanism, such that forceps are opened or closed.