Motion Coupling Analysis for the Decoupled Design of a Two-segment Notched Continuum Robot
Wenhui Zeng Junyan Yan Xu Huang Shing Shin Cheng Wenhui Zeng Junyan Yan Xu Huang Shing Shin Cheng
Multi-segment continuum robots, that offer inherent compliance and distal dexterity, are suitable for deployment in minimally invasive surgical procedures. Cable-driven mechanism is commonly used in continuum surgical robots but could lead to inter-segment motion coupling in a multi-segment robot. In this paper, we present a coupled mechanics model for a two-segment notched continuum robot to anal...