Fig. 7: Schematic of the steerable major and minor cannulas with coordinate frames attached to the joints.
From: Development of a single port dual arm robotically steerable endoscope for neurosurgical applications
a-1 Schematic of the steerable major cannula in unactuated state, (a-2) schematic of steerable major cannula in actuated state, (b) schematic of the steerable major cannula with the jth minor cannula and cross-sectional view of the major cannula’s end tip showing the two minor cannulas, (c) schematic of the jth unactuated minor cannula showing the coordinate frames \(\{{{\rm{F}}}^{4}\}-\{{{\rm{F}}}^{{m}_{j}}\}\), (d) each bending joint modeled as a revolute-prismatic-revolute (RPR) joint (frames {F5}, {F6}, and {F7} correspond to the proximal bending joint and frames {F8}, {F9}, and {F10} correspond to the distal bending joint), and (e) the workspace of the steerable major cannula (shown in blue). The workspace of the minor cannulas for 45° rotation and 10° bending of the major cannula is shown in red and green regions.
