The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader

Area of Science:

• Robotics
• Medical Devices
• Mechanical Engineering

Background:

• Flexible probes are crucial for accessing difficult targets in medicine and inspection.
• A key challenge is deploying the entire probe body along a desired path, known as follow-the-leader deployment.
• Existing methods often rely on external supports, and intrinsically capable probes are lacking.

Purpose of the Study:

• To introduce the first interlaced continuum robot capable of intrinsic follow-the-leader deployment.
• To address the need for probes that can navigate complex internal spaces without external assistance.

Main Methods:

• Conceptual design based on probe symmetry and controllable stiffness of two flexible tools.
• Model-based design, detailed design, and prototyping of the interlaced configuration.
• Preliminary experimental assessment of the probe's deployment capabilities.

Main Results:

• Demonstrated the first intrinsically follow-the-leader interlaced continuum probe.
• The probe can create tracks with a radius of curvature as small as twice its diameter.
• This capability surpasses existing state-of-the-art tools for follow-the-leader deployment.

Conclusions:

• The novel interlaced design offers a prototypical approach for continuum robotic systems.
• This intrinsically follow-the-leader probe represents a significant advancement for navigating confined spaces.
• Further development is needed, but the prototype shows high potential for various applications.