The trend of achieving minimal invasiveness in surgeries and recent technological
advances in robotics have resulted in the emergence of flexible surgical robots. Such …

The diffusion of minimally invasive surgery has thrived in recent years, providing substantial
benefits over traditional techniques for a number of surgical interventions. This rapid growth …

Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …

With the successful uptake and inclusion of robotic systems in minimally invasive surgery
and with the increasing application of robotic surgery (RS) in numerous surgical specialities …

This article presents a novel force sensor to detect the distal force of tendon-sheath
mechanisms (TSMs) in flexible endoscopic surgical robots. We propose to measure the …

Accurate haptic feedback is highly challenging for flexible endoscopic surgical robots due to
space limitation for sensors on small end-effectors and critical force hysteresis of their …

A novel pneumatic soft linear actuator Fiber-reinforced Origamic Robotic Actuator (FORA) is
proposed with significant improvements on the popular McKibben-type actuators, offering …

Multiple robotic flexible endoscope platforms have been developed based on cross
specialty collaboration between engineers and medical doctors. However, significant …

The tendon-sheath actuation system is capable of providing remote power transmission and
greatly simplifying the mechanical design of robotic systems. However, there exist many …

Accurate shape sensing and distal contact force estimation of the flexible continuum robots
remains challenging due to critical hysteresis profiles for modeling and the difficulties on …