Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery
Xin Ma,Xuchen Wang,Rui Cao,Kwok Wai Samuel Au,Xin Ma,Xuchen Wang,Rui Cao,Kwok Wai Samuel Au
Existing robotic endoscopes for laparoscopic surgery, predominantly rigid or limited in dexterity, occupy a large motion space1, The large occupied motion space necessitates large incisions and reduces the motion space for surgeons to simultaneously operate other surgical instruments. Meanwhile, surgeons only have limited view adjustment capability to avoid occlusion and they often have to lift/pu...
