Learning autonomous behaviours for the body of a flexible surgical robot
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DOI: 10.1007/s10514-016-9544-6
Abstract: This paper presents a novel strategy to learn a positional controller for the body of a flexible surgical manipulator used for minimally invasive surgery. The manipulator is developed within the STIFF-FLOP European project and is… read more here.
Keywords: autonomous behaviours; body flexible; flexible surgical; robot ... See more keywords
Planning for Flexible Surgical Robots via Bézier Spline Translation
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DOI: 10.1109/lra.2019.2926221
Abstract: In a minimally invasive surgery, new flexible instruments enable safer and easier access to difficult-to-reach anatomical regions. However, their introduction into the clinical workflow requires robust replanning because navigation errors during surgery render initially planned… read more here.
Keywords: translation; surgical robots; flexible surgical; via zier ... See more keywords
Design and Kinematic Modeling of In-Situ Torsionally-Steerable Flexible Surgical Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142920
Abstract: Flexible robots have been widely used in minimally invasive surgery because of their dexterity and accuracy. However, the torsion of end-effector under bending state usually produces unnecessary concomitant motion of the robot arm. This paper… read more here.
Keywords: motion; design; situ torsionally; surgical robots ... See more keywords