Motion Planning for Serial Mechanisms Based on Precurved Flexible Beams

Yakov Idelson, Oded Medina

Research output: Contribution to journalArticlepeer-review


The field of Robot-Assisted Surgery is of great interest. Such robots can improve procedures leading to quicker recovery, smaller scars, less blood loss, and less pain. In this study, we present the motion planning scheme of a flexible mechanism whose motion depends on the insertion of precurved hyper elastic beams into an external multilumen tube that bends according to its geometric and elastic properties. We first define the robot's shape according to the inserted beam's known properties. We present the physical model of this system, explore how contact with obstacles affects the robot's final shape and calculate the forces that it exerts on the tissues on which it leans. We plan the beams insertion order that allows reaching the goals without colliding with obstacles. Finally, we verify our calculations and assumptions on a real-world system. This technology can be used in many robotic fields such as Minimally Invasive Surgeries and Natural Orifice Transluminal Endoscopic Surgeries.

Original languageEnglish
Pages (from-to)124979-124989
Number of pages11
JournalIEEE Access
StatePublished - 2022


  • Flexible mechanisms
  • compliant mechanisms motion planning
  • obstacle avoidance


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