Fig. 1. Transnasal flexible surgical robot system

Fig. 2. Kinematics principle of flexible manipulator

Fig. 3. In-situ calibration method based on binocular vision

Fig. 4. Flow chart of attitude reconstruction algorithm based on ELM

Fig. 5. Bending performance test and analysis of flexible manipulator

Fig. 6. Load capacity test analysis

Fig. 7. Test analysis of in-situ attitude calibration based on data-driven

Fig. 8. Attitude reconstruction testing and error analysis of large bending deformation for flexible manipulator-1 and dual-arm cooperative operation

Fig. 9. Analysis of end tracking test for flexible manipulator

Fig. 10. Analysis of maintenance testing for flexible manipulator

Fig. 11. Simulation experiment setup and analysis of transnasal approach