Table 1 Summary of the design optimization results

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

  Constant-curvature CR Optimized CR
Fixed base
   Joint bending limits \(20^{\circ }\) for all the joints \(40^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest
   Objective function 36.60 18.86
Moving base up to 5 mm
   Joint bending limits \(20^{\circ }\) for all the joints \(40^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest
   Objective function 35.24 17.65
Moving base up to 7.5 mm
   Joint bending limits \(20^{\circ }\) for all the joints \(35^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest
   Objective function 25.44 6.5
Moving base up to 10 mm
   Joint bending limits \(20^{\circ }\) for all the joints \(30^{\circ }\) for the first two joints. \(5^{\circ }\) for the rest
   Objective function 2.66 0.11
  1. The objective function values have been scaled by dividing them by the maximum possible value and multiplied them by 100 for clarity