Abstract
With the application of computer-aided and robot-assisted system integrated into surgery, flexible bending manipulators have been studied and widely used in minimally invasive surgeries. In this report, tendon-driven flexible bending manipulators in tight and irregular space have been studied. The study analyzes different designs of these tendon-driven manipulators in terms of varying backbone support and tendon guiding mechanism. Design analysis and bending motion model are investigated, and simulations on the force, displacement, and stress are done with Ansys Workbench. The finished prototype of the manipulating system can achieve the desired bending motion. The proposed design is validated by prototype development and experiment.
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