Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery. However, because of their inherent compliance, handling payloads may...

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Bibliographic Details
Main Authors: Kapil Sawant, Antonios E. Gkikakis, Leonardo S. Mattos
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Machines
Subjects:
continuum robots
flexible manipulator
sensitivity analysis
stiffness optimization
minimally invasive surgery (MIS)
surgical robots
Online Access:https://www.mdpi.com/2075-1702/11/6/662

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https://www.mdpi.com/2075-1702/11/6/662

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