A sensor-free force estimation method for notched continuum surgical robot
The notched continuum robot (NCR), characterized by its compact size and excellent
mechanical properties, is extensively used in the design of minimally invasive surgical …
mechanical properties, is extensively used in the design of minimally invasive surgical …
Enhancing the precision of continuum robots in orthopedic surgery based on mechanical principles
T Pang, J Liang, Z Lin, X Zhang, F Du - Frontiers in Bioengineering …, 2024 - frontiersin.org
Introduction In the field of orthopedic surgery, the notched continuum robot has garnered
significant attention due to its passive compliance, making it particularly suitable for …
significant attention due to its passive compliance, making it particularly suitable for …
Shape modeling and experimental validation of continuum robots
S Tang, J Ji, W Yuan, S Guo, H Chang… - Applied Mathematical …, 2024 - Elsevier
ABSTRACT A mathematical model for the inverse kinematics and shape modeling of
continuum robots is presented in this paper. This method simplifies the forward kinematics …
continuum robots is presented in this paper. This method simplifies the forward kinematics …
Dexterity assessment for wrist joints of surgical robots: a statics-based evaluation method
The continuum manipulators are the most common wrist joint design in surgical robots.
However, there is currently no complete and accurate evaluation system to evaluate the …
However, there is currently no complete and accurate evaluation system to evaluate the …