Tendon-driven Flexible Manipulator

Project goals This project aims to develop a flexible manipulator for transnasal/transoral surgery. Compared with existing surgical manipulators, the developed one should have better performance in workspace and dexterity, thus better facilitate the surgical operation. Approaches A constrained tendon-driven serpentine manipulator (CTSM) is designed as shown in Figure 1. It includes an underactuated tendon-driven flexible section, a constraint and a … Continue reading