Development of a Laparoscope Prototype Based on the Continuous Redundant Cable Robot Tested in a Simulated Abdominal Pelvic Cavity

The applications of continuous-redundant robots in the medical field, thanks to their hyper-flexibility and their ability to slide through complex curvilinear lines, make them ideal for surgical procedures. This paper describes the design, construction and control of a continuous redundant robot, driven by tension cables, based on the robotic model. Tests were carried out in a simulated physical environment of the Abdominopelvic cavity. Regarding the control of the system, inverse kinematics were used, which allowed to relate the different variables of the same, using the MatLAB and Arduino programs; its manipulation was carried out by means of a joystick and a PID control. Evaluation, performance of the system, position of the end effector, the length of the tension cables in each movement, as well as their respective curvature and angles were recorded through calculations.