Payload optimization of surgical instruments with rolling joint mechanisms
Dong-Ho Lee,Minho Hwang,Joonhwan Kim,Dong-Soo Kwon,Dong-Ho Lee,Minho Hwang,Joonhwan Kim,Dong-Soo Kwon
Many surgical robots with steerable surgical instruments have been proposed for endoscopic surgery. Surgical instruments should be small in size for insertion into the body and be able to handle large payloads such as tissue. Because the overall diameter and payload parameters are a trade-off, it is difficult to design an instrument with a large payload while reducing its diameter. In this paper, ...
