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<p><strong>Abstract.</strong> Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while their modelling and control are relatively difficult and complex. This paper proposes an improved hysteresis model of a notched continuum manipulator based on the classical Bouc–Wen model, which can reduce errors and increase the accuracy of the kinematic-mechanics coupled model. Then parameters are identified by the mean ofdoi:10.5194/ms-9-211-2018 fatcat:kcbvwlidmrdujani4ayhakb6u4