A variable-stiffness continuum manipulators by an SMA-based sheath in minimally invasive surgery.
Surong JiangShuyuan GaoFei QiYanfei CaoFeng JuDongming BaiYaoyao WangPublished in: The international journal of medical robotics + computer assisted surgery : MRCAS (2020)
The robot integrated with the variable-stiffness sheath is demonstrated to possess a fine capacity of variable stiffness.
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