Multi-backbone Continuum Robots

Overview

Navigating tortuous anatomical pathways, such as the aortic arch, requires continuum robots capable of complex three-dimensional deformations. Existing designs are often limited to specific curve families, and extending their shape capabilities usually increases mechanical complexity and system size. In this paper, we present a novel hybrid continuum robot that combines a multi-backbone structure with a flexible notched tube. Control rods enable bending, compression, and extension, while the tube’s structural modifications induce torsion along the backbone. This allows the robot to achieve both planar and helical shapes in a compact form factor.

Publications