Kinematic analysis of cable-driven hyper-redundant catheter robot

For the need of interventional operation, a modular hyper-redundant catheter robot based on cable-driven mechanism is presented. According to the complex interventional environment, the operator can choose the appropriate catheter unit for rapid reconfiguration. In this paper, the kinematic model of a single flexible catheter is established, and the mapping relationship between drive space and operation space is given. Under the restraint of vascular environment, this paper puts forward the inverse kinematics solution of hyper-redundant catheter robot by combining methods of backbone curve and joint equivalent. Simulation results show that the proposed method can meet the requirements of optimization and robustness.