Abstract Small-sized continuum robots (CRs) have shown promising applications in multiple fields, including minimally invasive surgeries. This paper contributes to the field by presenting dynamic modeling and system identification of internally actuated, small-sized CRs in which continuous interactions between the internal actuation mechanisms and the flexible backbones are considered. First, a dynamic model of a flexible backbone sheath is developed. Next, an equivalent discrete model is identified to simulate the dynamics of CRs with continuous interactions. Moreover, based on the existing friction models of passive tendon-sheath mechanisms, the friction model within the proposed discrete model is modified to better resemble the continuity of the interaction. A prismatic ablation catheter is then used as the benchmark for the experimental study, in which parameters for the handle, shaft, and the proposed discrete model for its bending section are considered unknown. The identified model estimates the catheter motion with a maximum error of 4.5 mm at the tip position, which represents 5.6% of the length of the bending section of our experimental catheter.

中文翻译：

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内驱动小型连续体机器人的动力学建模与系统辨识

摘要 小型连续体机器人（CRs）在包括微创手术在内的多个领域显示出有前景的应用。本文通过介绍内部驱动的小型 CR 的动态建模和系统识别，为该领域做出了贡献，其中考虑了内部驱动机制和柔性主干之间的连续相互作用。首先，开发了柔性主干护套的动态模型。接下来，确定等效的离散模型来模拟具有连续交互作用的 CR 的动力学。此外，基于被动腱鞘机制的现有摩擦模型，对所提出的离散模型中的摩擦模型进行了修改，以更好地模拟相互作用的连续性。然后使用棱柱消融导管作为实验研究的基准，其中手柄、轴的参数及其弯曲部分的拟议离散模型被认为是未知的。识别的模型估计导管运动在尖端位置的最大误差为 4.5 毫米，代表我们实验导管弯曲段长度的 5.6%。