Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery
Zhang, Hanna J. and Lilge, Sven and Chikhaoui, Mohamed Taha and Burgner-Kahrs, Jessica
Hamlyn Symposium on Medical Robotics, 2021
Due to their small size as well as high dexterity and compliance, concentric tube continuum robots (CTCR) are well suited for minimally invasive surgery. Complex laparoscopic tasks requiring collaboration of multiple manipulators can be fulfilled by employing a dual-arm robotic system. Thus far, such continuum systems have been mainly controlled with fully teleoperative schemes.