Design and experiment of a 3-DoF master device with a 2-DoF parallel mechanism for flexible ureteroscopy.
Journal:
The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date:
Feb 1, 2023
Abstract
BACKGROUND: Traditional commercial master devices and specialied serial master devices meet insufficient workspace, low intuitiveness, low stiffness, and poor accuracy during master-slave mapping for robot-assisted flexible ureteroscopy (FURS).