A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries
Zhanpeng Yin,Yan Hong,Xiaoyu Sun,Zhiyuan Shen,Yingxuan Zhang,Feng Ju,Bruce W. Drinkwater,Zhanpeng Yin,Yan Hong,Xiaoyu Sun,Zhiyuan Shen,Yingxuan Zhang,Feng Ju,Bruce W. Drinkwater
Minimally invasive surgeries (MIS) or natural orifice transluminal endoscopic surgeries (NOTES) such as the transurethral resection of bladder tumor (TURBT) require the surgical robot to be miniaturized to perform surgical procedures in confined spaces. However, the surgical robot's tiny size poses problems in its fabrication and shape sensing. In this paper, a miniature continuum surgical robot i...
