Design and Modelling of A Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery
Wei Li,Dandan Zhang,Guang-Zhong Yang,Benny Lo,Wei Li,Dandan Zhang,Guang-Zhong Yang,Benny Lo
In endoluminal surgery, the miniature instruments shall be of high accuracy and flexibility for minimal invasive diagnosis and surgical intervention. To this end, continuum robots with flexible joints have been proposed as the mechanism of endoscopic instruments. The compliance and deformability of the continuum joints enable access into the curved lumen. However, the manufacturing tolerances are ...
