Multi-Arm Concentric Tube Robot for Minimally Invasive Surgery

My bachelor’s thesis for the BEng degree in Mechanical Engineering.

Descriptions:

• Designed a fully functional system for clinical minimally invasive surgery. Including design of the mechanical structure, kinematic modeling, calibration on the concentric tube arm, and calibration on the Multi-Arm C.T.R. system.
• Designed a 6D pose detection algorithm for the end vision tag of the continuum robot (C++)
• Designed a calibration algorithm for C.T.R. and deployed inter-arm hand-eye calibration on the Multi-Arm CTR system
• Achieved inter-arm motion independence and a more concentrated distribution of surgery arms (closer to each other)