Yucheng Li


Presentation: 1:15-2:30, Kennedy Union Ballroom



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Continuum robots are inspired by biological organisms such as snakes, octopus tentacles, and elephant trunks to replicate their flexibility. These robots can navigate complex and confined spaces, enabling them to adapt to changing shapes and surfaces and interact delicately with environments without causing damage. Hence, their inherent flexibility and maneuverability make continuum robots ideal for surgical procedures in minimally invasive surgery (MIS). However, MIS requires exacting precision in both the position of the surgical robot end-effector and the shape of the continuum robot backbone. Additionally, the high flexibility of continuum robots introduces complexity in motion planning and control. To address these challenges, this study focuses on two key aspects: understanding kinematic redundancy and locomotion in the inextensible continuum robot and proposing a novel design of the backbone and actuating system of the continuum robot to enhance backbone stiffness without loss of flexibility. The DIMLab's prior research has successfully achieved the objective of comprehensively understanding the kinematics of continuum robots, enabling their application in the medical field.

Publication Date


Project Designation

Graduate Research

Primary Advisor

Andrew P. Murray, Dave Harry Myszka

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium, School of Engineering

Institutional Learning Goals


Kinematics of Inextensible Constant Curvature Model for the Design of Minimally Invasive Surgical Robots