A Dexterous Endoluminal Robot with a Novel Wiring Method

Roman Kalyna; Eli Shapira; Alon David; Leonid Kuprian; Nir Shvalb

doi:10.1109/ACCESS.2026.3658591

A Dexterous Endoluminal Robot with a Novel Wiring Method

Roman Kalyna
, Eli Shapira
, Alon David
, Leonid Kuprian
, Nir Shvalb

Department of Industrial Engineering and Management

Research output: Contribution to journal › Article › peer-review

Abstract

We introduce a five degree-of-freedom continuum endoluminal robot that mitigates the trade-off between maneuverability and operational stiffness in confined workspaces. A segmented backbone actuated via a cable-and-pulley architecture enables differential stiffness modulation: the proximal segment remains highly compliant for navigation, while the distal segment exhibits increased effective stiffness, providing improved operational stability once the target is reached. The prototype robot tracks canonical trajectories with a mean endpoint error of 3.8 mm, maintains a prescribed standoff distance within ±0.4 mm during wall-following, and exhibits increased distal stiffness of approximately 30 N/m versus 20 N/m proximally.

Original language	English
Pages (from-to)	26354-26362
Number of pages	9
Journal	IEEE Access
Volume	14
DOIs	https://doi.org/10.1109/ACCESS.2026.3658591
State	Published - 2026

Keywords

Continuum robot
differential stiffness
endoluminal Robot
varying flexibility

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10.1109/ACCESS.2026.3658591

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title = "A Dexterous Endoluminal Robot with a Novel Wiring Method",

abstract = "We introduce a five degree-of-freedom continuum endoluminal robot that mitigates the trade-off between maneuverability and operational stiffness in confined workspaces. A segmented backbone actuated via a cable-and-pulley architecture enables differential stiffness modulation: the proximal segment remains highly compliant for navigation, while the distal segment exhibits increased effective stiffness, providing improved operational stability once the target is reached. The prototype robot tracks canonical trajectories with a mean endpoint error of 3.8 mm, maintains a prescribed standoff distance within ±0.4 mm during wall-following, and exhibits increased distal stiffness of approximately 30 N/m versus 20 N/m proximally.",

keywords = "Continuum robot, differential stiffness, endoluminal Robot, varying flexibility",

author = "Roman Kalyna and Eli Shapira and Alon David and Leonid Kuprian and Nir Shvalb",

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AU - Kuprian, Leonid

AU - Shvalb, Nir

PY - 2026

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AB - We introduce a five degree-of-freedom continuum endoluminal robot that mitigates the trade-off between maneuverability and operational stiffness in confined workspaces. A segmented backbone actuated via a cable-and-pulley architecture enables differential stiffness modulation: the proximal segment remains highly compliant for navigation, while the distal segment exhibits increased effective stiffness, providing improved operational stability once the target is reached. The prototype robot tracks canonical trajectories with a mean endpoint error of 3.8 mm, maintains a prescribed standoff distance within ±0.4 mm during wall-following, and exhibits increased distal stiffness of approximately 30 N/m versus 20 N/m proximally.

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A Dexterous Endoluminal Robot with a Novel Wiring Method

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Keywords

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