Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees of freedom. Our work addresses this by presenting a unified telemanipulation strategy which enables follow-the-leader locomotion and reorientation keeping the shape change as small as possible. The basis for this is a novel shape-fitting approach for solving the inverse kinematics in only a few milliseconds. Shape fitting is performed by maximizing the similarity of two curves using Fr\'echet distance while simultaneously specifying the position and orientation of the end effector. Telemanipulation performance is investigated in a study in which 14 participants controlled a simulated snake robot to locomote into the target area. In a final validation, pivot reorientation within the target area is addressed.

翻译：蛇形机器人因其沿曲线路径运动的能力，在内窥镜介入治疗中具有显著潜力。由于输入设备仅能提供六自由度指令，超冗余特性下的遥操作仍是一个开放性问题。本研究提出一种统一的遥操作策略，在保持构型变化最小化的同时，实现“跟随引导”式运动与重定向。其核心在于一种新型曲线拟合方法，可在数毫秒内完成逆运动学求解。曲线拟合通过最大化两条曲线的弗雷歇距离相似度，并同时指定末端执行器的位姿来实现。通过14名受试者操控模拟蛇形机器人进入目标区域的实验，验证了遥操作性能。最终验证环节进一步解决了目标区域内的枢轴重定向问题。