28th Conference of the international Society for Medical Innovation and Technology, 2016
Continuum manipulators possess the ability to move alongnonlinear pathsand avoid obstacles in confined environments. A varietyof designs has beenproposed for medical applications . The two most successful representatives are tubular and tendon-driven continuum robots. However,both designs have some design inherent restrictions: limited range ofcurvatures for tubular andpredefinedsegment lengthsfor tendon-driven robots. Hence,appropriatea priori design parameterselectionand workspace optimizationsare required for each specificapplication.In this paper,we present a novel manipulator design combining the advantages of both robotdesigns: variable curvature and variable segment lengths.