A Continuum Manipulator for Open-Source Surgical Robotics Research (ENDO) - T-MRB 2021

A.B. Clark, V. Mathivannan, N. Rojas, "A Continuum Manipulator for Open-Source Surgical Robotics Research and Shared Development," IEEE Transactions on Medical Robotics and Bionics, Vol. 3, No. 1, pp. 277 - 280, 2021
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This video shows ENDO, an open-source 3-segment continuum robot manipulator with control and actuation mechanism, whose focus is on simplicity, affordability, and accessibility. This robotic system is fabricated from low cost off-the-shelf components and rapid prototyping methods, and its information for implementation (and that of future iterations), including CAD files and source code, is available to the public on the Open Source Medical Robots initiative's repository on GitHub (github.com/Ope..., with the control library also available directly from Arduino.

[@dsg123456789]

Is there a paper or additional resources to learn more? I'd like to attempt to replicate your mechanism for a larger robot with reduced precision. I really like your use of TPU flexures, but I'd like to learn more about how you route the tendon wires. Do you use PTFE or another low-friction material where the tendon pass through the disks?

[@ImperialREDSLab]

Hi dsg123456789! Please see the links below. Paper: arxiv.org/abs/2101.01080 CAD model: github.com/OpenSourceMedicalRobots/Endo-Continuum-Robot Arduino library: github.com/OpenSourceMedicalRobots/Endo-Continuum-Robot-Library

[@k.nirenjankrishnakumar3682]

Absolutely fantastic and straightforward project. Will be of great help if you could share the matlab files used for simulation

[@uchiepnguyen218]

A great product. Can you tell me about the order of the servo corresponding to the channels of the PCA9685 driver?

[@AliSyauqiBilfaqih2]

Is it possible to get .step file instead of solidwork format for the CAD files?

[@Erosgenuino]

donde conseguir los planos?

[@ChienJerLuen]

May I know how you guys connect the ligament to the discs? Nice work btw!

[@ImperialREDSLab]

Hi Jer! The ligaments are connected to the discs using a female channel on the disc, which the ligaments are press-fit into. This is then fixed in place using cyano-acrylate glue (super glue).

[@ChienJerLuen]

@@ImperialREDSLab Nice, thanks for the reply :)

[@kingmasterlord]

aka how we got our tails back

[@donnalambs9578]

Oh man