Design and Compensation Control of a Flexible Instrument for Endoscopic Surgery
Wuzhou Hong,Andreas Schmitz,Weibang Bai,Pierre Berthet-Rayne,Le Xie,Guang-Zhong Yang,Wuzhou Hong,Andreas Schmitz,Weibang Bai,Pierre Berthet-Rayne,Le Xie,Guang-Zhong Yang
Snake-like robots for endoscopic surgery make it possible to reach deep-seated lesions. With the use of small flexible tendon-driven instruments, it is possible to perform bimanual micro-surgical tasks that are challenging for standard endoscopic surgeries. Existing devices, however, lack articulated wrists and rolling motion of the end-effector. This paper presents a new instrument design with a ...
