Design and Modeling of a Flexible Continuum Surgical Manipulator with Symmetric Constraints

A flexible continuum manipulator for minimally invasive surgery is proposed to realize the positional separation of the manipulator end by designing a symmetric constraint mechanism.Based on this configuration, a direct inverse kinematics method is designed.The workspace is drawn and the inverse kinematics is solved in the modes of fixed target attitude and fixed target position. The attitude tracking error can be ignored, and the maximum position tracking error is 1.96 mm.It shows that the designed manipulator can achieve more accurate motion control by using the direct inverse kinematics algorithm, which provides a new idea for the design of the manipulator in minimally invasive surgery robot.