Inverse kinematic modeling of continuum and hyper-redundant robots in the context of minimally invasive surgery

This thesis investigates the enhancement of continuum and hyper-redundant robots (CRs/HRRs) for single-port (SP) minimally invasive surgery (MIS), focusing on improving their dexterity, workspace, and control in constrained medical settings. Addressing the limitations of SP surgery, where robotic movement is restricted, the research progresses through three interconnected studies. In the first paper, a method was developed to design a robot with a dexterous 3D workspace, ensuring the end-effector can achieve multiple orientations at each position. In the second paper, a new inverse kinematic model (IKM) was introduced, specifically tailored to CRs/HRRs for SP MIS, enabling very fast convergence times. In the third paper, a minimalistic, inexpensive, and lightweight stereo vision-based control system was implemented that permits real-time control of the robot while incorporating secondary objectives. All introduced methods were validated empirically. Together, these efforts form a comprehensive framework that spans mathematical modeling to practical hardware design, offering a surgeon-friendly solution for tissue manipulation in MIS. By optimizing workspace, refining kinematic control, and enabling intuitive operation, this thesis contributes to the advancement of robotic surgery, paving the way for safer and more efficient surgeries.