Design and prototyping of a concentric wire-driven manipulator
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AbstractObjective-Minimally invasive surgery has been widely embraced due to its multitude benefits, especially less traumatic. The key to its success is the instruments' accessibility and manipulability inside the confined surgical space. This motivates researchers to develop flexible manipulators, which could bend inside the body cavity. Two representative flexible manipulators include the wire-driven manipulator (WDM) and the concentric tube manipulator (CTM) [1-2]. In general, WDMs excel in curvature control but the lengths of their bending sections are fixed. This limits their accessibility and manipulability [3-4]. In this work, we intend to improve these by a new design.
All Author(s) ListLi Z., Chengzhi S., Wang H.
Name of Conference6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Start Date of Conference26/06/2016
End Date of Conference29/06/2016
Place of ConferenceSingapore
Country/Region of ConferenceSingapore
Detailed descriptionorganized by IEEE,
Volume Number2016-July
LanguagesEnglish-United Kingdom

Last updated on 2021-16-09 at 00:52