Abstract:Abstract-This paper presents a novel continuum overtube that consists of a notched tendon-driven 2-DOF continuum joint and a distal deployable structure driven by a flexible screw rod. A smooth bending shape with constant curvature is achieved by adopting an overlapped area between notches to generate uniform stress distribution. The distal deployable structure provides an extensive triangulation for bimanual operations. The presented design achieves high flexibility, sufficient loading and anti-twisting capa… Show more
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