Reinforcement Learning Control of A Novel Magnetic Actuated Flexible-joint Robotic Camera System for Single Incision Laparoscopic Surgery
Dong Xu,Yuanlin Zhang,Wenshuai Tan,Hongxing Wei,Dong Xu,Yuanlin Zhang,Wenshuai Tan,Hongxing Wei
This paper describes the control of a novel Magnetic Actuated Flexible-joint Robotic Surgical (MAFRS) camera system with four degrees of freedom (4-DOF) for single incision laparoscopic surgery. Based on the idea of motion decoupling, we designed a novel MAFRS system which is consists of an external driving device and a motor-free insertable wireless robotic device with a hollow flexible joint. Du...
