Experimental Evaluation of a Small-Sized Continuum Robot for Grasping Tasks

Abstract

This study explores catheters, small-sized continuum robots (CRs), in medical procedures, utilizing a recently developed comprehensive classification system known as the "CR-based Taxonomy". This work specializes the proposed taxonomy for small-sized CRs with medical applications through semi-structured interviews with researchers in this field. Subsequently, it provides a comprehensive analysis of grasp taxonomy, encompassing aspects such as grasp stability, grasp adaptability, and the inherent characteristics of manipulated objects and tasks. This analysis is conducted within the context of the "CR-based Taxonomy" to assess its feasibility in a practical scenario involving a small-sized CR. Based on this analysis, fixed-tip grasp (FTG), hook grasp (HoG), and power form closure grasp (PFG) with a grasp stability of 18 have the highest stability, while, platform/pull/push grasp (PG) and expandable grasp (EG) have the lowest stability. Moreover, PFG and precision multi-contact grasp (PMG) have superior adaptability compared to other grasp families. Also, the planar payload of selected grasp families is much higher than the spatial payload of those families; however, the grasp size remains equal for both dimensions. This endeavor lays the groundwork for more in-depth investigations into catheter applications and offers valuable guidance to medical device developers in the creation of enhanced medical instruments.