Miniature Manipulator Design and Cartesian Control for Minimally Invasive Transluminal Endoscopic Surgery

Miniature Manipulator Design and Cartesian Control for Minimally Invasive Transluminal Endoscopic Surgery

This paper presents a miniature manipulator under Cartesian control for minimally invasive transluminal endoscopic surgery. The manipulator had four degrees of freedom (DoFs) and a diameter of only 3.5 mm. The compact size of the manipulator allowed it to pass through the instrument channel of the e...

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Bibliographic Details
Main Authors: Yanqiang Lei, Yibin Li, Xingyao Zhang, Gang Zhang, Fuxin Du
Format: Article
Language:English
Published: MDPI AG 2022-12-01
Series:Micromachines
Subjects:
surgical robotics
transluminal endoscopic
surgery
primary–secondary control
singularity
trajectory smooth
Online Access:https://www.mdpi.com/2072-666X/13/12/2171

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