Page 98 - Flexible Robotics in Medicine

Flexible steerable manipulator utilizing complementary configuration 83

Figure 4.3
(Top) Assembled model view of the flexible cable-driven manipulator and (bottom) a photograph
of a bent prototype of the flexible cable-driven manipulator.

Figure 4.4
Transverse cross-section of a hollow cylindrical segment with coupling cables (in orange) and
driving cables (in green) aligned within grooves.