Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery

Yiqing Huang; Yixuan Kong; Zifeng Wen; Jiaole Wang; Shuang Song

doi:10.1109/RCAR65431.2025.11139517

Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery

Yiqing Huang^*
, Yixuan Kong
, Zifeng Wen
, Jiaole Wang
, Shuang Song

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Minimally Invasive Surgery (MIS) represents a critical application of surgical robotics. However, existing systems are often constrained by excessive stiffness, large size, and limited operational range, which hinder their effectiveness in complex surgical procedures. This paper presents a miniaturized wire-driven continuum robot to overcome these limitations. The proposed system navigates a 1-meter-long endoscope, with the serpentine module at the tip adopting a continuum configuration to balance flexibility and miniaturization. The forward kinematics is derived for direct application in motion control. Experimental validation under three conditions confirms that the robot's workspace meets surgical requirements.

Original language	English
Title of host publication	RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	473-478
Number of pages	6
ISBN (Electronic)	9798331502058
DOIs	https://doi.org/10.1109/RCAR65431.2025.11139517
State	Published - 2025
Externally published	Yes
Event	2025 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2025 - Toyama, Japan Duration: 1 Jun 2025 → 6 Jun 2025

Publication series

Name	RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics

Conference

Conference	2025 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2025
Country/Territory	Japan
City	Toyama
Period	1/06/25 → 6/06/25

Keywords

continuum robot
minimally invasive surgery
wire-driven

Access to Document

10.1109/RCAR65431.2025.11139517

Cite this

Huang, Y., Kong, Y., Wen, Z., Wang, J., & Song, S. (2025). Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery. In RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics (pp. 473-478). (RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR65431.2025.11139517

Huang, Yiqing ; Kong, Yixuan ; Wen, Zifeng et al. / Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery. RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 473-478 (RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics).

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title = "Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery",

abstract = "Minimally Invasive Surgery (MIS) represents a critical application of surgical robotics. However, existing systems are often constrained by excessive stiffness, large size, and limited operational range, which hinder their effectiveness in complex surgical procedures. This paper presents a miniaturized wire-driven continuum robot to overcome these limitations. The proposed system navigates a 1-meter-long endoscope, with the serpentine module at the tip adopting a continuum configuration to balance flexibility and miniaturization. The forward kinematics is derived for direct application in motion control. Experimental validation under three conditions confirms that the robot's workspace meets surgical requirements.",

keywords = "continuum robot, minimally invasive surgery, wire-driven",

author = "Yiqing Huang and Yixuan Kong and Zifeng Wen and Jiaole Wang and Shuang Song",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2025 ; Conference date: 01-06-2025 Through 06-06-2025",

year = "2025",

doi = "10.1109/RCAR65431.2025.11139517",

language = "英语",

series = "RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "473--478",

booktitle = "RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics",

address = "美国",

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Huang, Y, Kong, Y, Wen, Z, Wang, J & Song, S 2025, Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery. in RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics. RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics, Institute of Electrical and Electronics Engineers Inc., pp. 473-478, 2025 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2025, Toyama, Japan, 1/06/25. https://doi.org/10.1109/RCAR65431.2025.11139517

Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery. / Huang, Yiqing; Kong, Yixuan; Wen, Zifeng et al.
RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics. Institute of Electrical and Electronics Engineers Inc., 2025. p. 473-478 (RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Huang, Yiqing

AU - Kong, Yixuan

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AU - Wang, Jiaole

AU - Song, Shuang

PY - 2025

Y1 - 2025

N2 - Minimally Invasive Surgery (MIS) represents a critical application of surgical robotics. However, existing systems are often constrained by excessive stiffness, large size, and limited operational range, which hinder their effectiveness in complex surgical procedures. This paper presents a miniaturized wire-driven continuum robot to overcome these limitations. The proposed system navigates a 1-meter-long endoscope, with the serpentine module at the tip adopting a continuum configuration to balance flexibility and miniaturization. The forward kinematics is derived for direct application in motion control. Experimental validation under three conditions confirms that the robot's workspace meets surgical requirements.

AB - Minimally Invasive Surgery (MIS) represents a critical application of surgical robotics. However, existing systems are often constrained by excessive stiffness, large size, and limited operational range, which hinder their effectiveness in complex surgical procedures. This paper presents a miniaturized wire-driven continuum robot to overcome these limitations. The proposed system navigates a 1-meter-long endoscope, with the serpentine module at the tip adopting a continuum configuration to balance flexibility and miniaturization. The forward kinematics is derived for direct application in motion control. Experimental validation under three conditions confirms that the robot's workspace meets surgical requirements.

KW - continuum robot

KW - minimally invasive surgery

KW - wire-driven

UR - https://www.scopus.com/pages/publications/105016841956

U2 - 10.1109/RCAR65431.2025.11139517

DO - 10.1109/RCAR65431.2025.11139517

M3 - 会议稿件

AN - SCOPUS:105016841956

T3 - RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics

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BT - RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2025 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2025

Y2 - 1 June 2025 through 6 June 2025

ER -

Huang Y, Kong Y, Wen Z, Wang J , Song S. Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery. In RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics. Institute of Electrical and Electronics Engineers Inc. 2025. p. 473-478. (RCAR 2025 - IEEE International Conference on Real-Time Computing and Robotics). doi: 10.1109/RCAR65431.2025.11139517

Design of a Miniaturized Wire-Driven Continuum Surgical Robot for Remote Operation in Minimally Invasive Surgery

Abstract

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Keywords

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