Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy
Jian Chen,Mingcong Chen,Qingxiang Zhao,Shuai Wang,Yihe Wang,Ying Xiao,Jian Hu,Danny Tat Ming Chan,Kam Tong Leo Yeung,David Yuen Chung Chan,Hongbin Liu,Jian Chen,Mingcong Chen,Qingxiang Zhao,Shuai Wang,Yihe Wang,Ying Xiao,Jian Hu,Danny Tat Ming Chan,Kam Tong Leo Yeung,David Yuen Chung Chan,Hongbin Liu
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an imag...
