Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery.
Izadyar TamadonYu HuanAntonius G de GrootArianna MenciassiEdoardo SinibaldiPublished in: The international journal of medical robotics + computer assisted surgery : MRCAS (2020)
We accurately positioned and effectively stiffened the manipulator in several bent configurations. The proposed stiffness modulation strategy can be extended to other manipulators.
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