Abstract：Objective To propose a soft robot drive system based on continuum structure for natural endoscopic surgery in curved,
complex and narrow unstructured environments. Methods A mechanical arm with a wire-controlled continuum structure was
designed, and the parameters of the continuum structure were optimized by the finite element method. A flexible hollow cannula was
used as the trunk to allow space for carrying miniature or small surgical instruments. The system was also equipped with a device
with tactile feedback. Through the manipulation of the haptic device, the haptic device drove the linkage of the mechanical arm to
start the operation and obtain the force feedback during the operation. Results The continuous structure has a large deformation
capacity, bending angle of about 90°, the system can move according to the planned path. Conclusion The system has the advantages
of small scale, simple structure, and a high degree of integration, and can well adapt to the narrow space with complex bending.
金淼，金敏敏，罗婷婷，刘光丽，杨润怀. 基于连续体结构的软机器人驱动系统设计[J]. 中国医疗设备, 2022, 37(6): 15-18.
JIN Miao, JIN Minmin, LUO Tingting, LIU Guangli, YANG Runhuai. Design of Soft Robot Drive System Based on Continuum Structure. China Medical Devices, 2022, 37(6): 15-18.
