FABRIKv: A Fast, Iterative Inverse Kinematics Solver for Surgical Continuum Robot with Variable Curvature Model
Fuhao Wang,Wang Ye,Xiaoyang Kang,Hongbo Wang,Jingjing Luo,Li Chen,Xiuhong Tang,Fuhao Wang,Wang Ye,Xiaoyang Kang,Hongbo Wang,Jingjing Luo,Li Chen,Xiuhong Tang
Due to the advantages of high flexibility, large workspace, and good human-body compatibility, flexible tendon-driven surgical continuum robots have attracted a lot of attention in robot-assisted minimally invasive surgery. However, due to the coupling of the position and angle of the continuum robot, and the easy deformation of the external force, its inverse kinematics solution has always been a...
