Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints

A laser-profiled continuum robot (CR) with a series of interlocking joints has been developed in our center to reach deeper areas of the airways. However, it deflects with constant curvature, which thus increases the difficulty of entering specific bronchi without relying on the tissue reaction forces. This paper aims to propose an optimization framework to find the best design parameters for nonconstant curvature CRs to reach distal targets...