Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception
This study addresses the challenge of shape and contact force perception in compact spool-driven continuum surgical robots, where direct cable tension measurement is infeasible. To overcome this limitation, the authors propose a co-design framework integrating actuation and sensing. A compliant micro-deformation element embedded within the motor mount enables real-time cable tension feedback. This is combined with a multi-body stubby-beam dynamic model, spatial cable path modeling, and proximal multi-axis force/torque sensing to form a unified perception system. Notably, the approach requires no additional space on the spools, thereby circumventing a key bottleneck in conventional continuum robot sensing. Prototype experiments demonstrate that the system reliably and simultaneously estimates end-effector pose, contact force, and contact location in both single- and double-segment configurations.