Dexterity enhancement of continuum robot for natural orifice transluminal endoscopic surgery in the dual-manipulator collaborative space.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
PMID: 37042444

Abstract

BACKGROUND: Suturing and knotting in Natural Orifice Transluminal Endoscopic Surgery (NOTES) requires the robot not only to be able to work with multiple manipulators but also to have a high degree of dexterity. However, little attention has been paid to the design and enhancement of dexterity in multi-manipulated robots.

Authors

  • Tianyu Cheng
    WPI Soft Robotics Laboratory, Robotics Engineering Department, Worcester Polytechnic Institute, Worcester, Massachusetts, USA.
  • Gang Zhang
  • Jianjun Sun
    Department of Radiology, The 476th Clinic Section, Fuzhou General Hospital of the PLA, Fuzhou, Fujian 350002, China.
  • Tao Zhang
    Department of Traumatology, Chongqing Emergency Medical Center, Chongqing University Central Hospital, School of Medicine, Chongqing University, Chongqing, 40044, People's Republic of China.
  • Fuxin Du
    School of Mechanical Engineering, Shandong University, Jinan, China.

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