SURGICAL ROBOT SYSTEM USING CONTINUUM OF MULTIPLE TUBES

摘要

The present invention relates to a surgical robot system made up of continua of multiple tubes provided with linearly extending non-deforming portions and deforming portions extending from the fronts of the non-deforming portions and having curve portions. Each of the deforming portions of the continua of the tubes is formed to have a spiral structure, and thus control can be performed such that the widths of the continua of the tubes are minimized. The continua of the tubes are drawn in along an entrance passage in a state where the non-deforming portions are aligned and the deforming portions are rotated and extended in the same direction and arranged to be twisted. Terminal end portions of the deforming portions have controlled positions once the continua of the tubes are moved to a work space relatively larger in volume than that of the entrance passage.;COPYRIGHT KIPO 2017