A continuum module for developing a biopsy device

This work introduces a continuum module for developing a biopsy device. A unit continuum module has 2 DOF, consisting of multiple springs and multiple cylinders. This continuum can be bent up to 180 degrees and it has small radius of curvature. The kinematics for this continuum is provided. A 5 DOF biopsy device is developed by assembling two continuum modules and it can be applied to take sample from the human body.