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Related Experiment Video

Updated: Sep 23, 2025

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

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FAS-A Fully Actuated Segment for Tendon-Driven Continuum Robots.

Reinhard M Grassmann¹, Priyanka Rao¹, Quentin Peyron¹

¹Continuum Robotics Laboratory, Department of Mathematical and Computational Sciences, University of Toronto Mississauga, Mississauga, ON, Canada.

Frontiers in Robotics and AI

|May 13, 2022

Summary

This study introduces a novel robotic segment design for tendon-driven continuum robots. The design enhances motion capabilities, enabling robots to navigate complex paths with improved dexterity and control.

Keywords:

continuum robot manipulator degrees of freedom design follow-the-leader deployment helical tendon routing position redundancy soft manipulator tendon actuation

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Area of Science:

Robotics
Mechanical Engineering
Medical Devices

Background:

Tendon-driven continuum robots offer unique motion capabilities.
Existing designs often lack integrated variable length and non-straight tendon routing.
Small-scale, dexterous robotic segments are crucial for minimally invasive procedures.

Purpose of the Study:

To develop a novel robotic segment design integrating variable length and non-straight tendon routing.
To enhance the motion capabilities of tendon-driven continuum robots.
To enable robots to navigate complex, tortuous paths effectively.

Main Methods:

A novel segment design enabling backbone rotation was developed.
Extrinsic actuation principle maintained a small outer diameter (7 mm).
Simulations and physical prototypes were used for evaluation.
A static model was derived to analyze motion capabilities.

Main Results:

The new segment design achieved four degrees-of-freedom with variable helical tendon routing.
Improved motion capabilities were observed, including position redundancy.
Successful follow-the-leader deployment along spatially tortuous paths was demonstrated.
An area-based error measure was proposed for performance evaluation.

Conclusions:

The proposed segment design offers enhanced motion capabilities with minimal hardware overhead.
It enables superior spatial follow-the-leader deployment and position redundancy.
This design advances the dexterity and applicability of continuum robots in complex environments.