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Tendon-driven snake-like arms have been used to create highly dexterouscontinuum robots so that they can bend around anatomical obstacles to accessclinical targets. In this paper, we propose a design algorithm for developingpatient-specific surgical continuum manipulators optimized for orientaldexterity constrained by task-space obstacles. The algorithm uses asampling-based approach to finding the dexterity distribution in the workspacediscretized by voxels. The oriental dexterity measured in the region ofinterest in the task-space formed a fitness function to be optimized throughdifferential evolution. This was implemented in the design of a tendon-drivenmanipulator for knee arthroscopy. The results showed a feasible design thatachieves significantly better dexterity than a rigid tool. This highlights thepotential of the proposed method to be used in the process of designingdexterous surgical manipulators in the field.

Optimal Dexterity for a Snake-like Surgical Manipulator using Patient-specific Task-space Constraints in a Computational Design Algorithm