A stiffness-adjustable hyperredundant manipulator using a variable neutral-line mechanism for minimally invasive surgery

IEEE Transactions on Robotics

Volumn 30, Issue 2, 2014, Pages 382-395

  Kim, Yong Jae ^a   Cheng, Shanbao ^b   Kim, Sangbae ^c   Iagnemma, Karl ^c  

^a Samsung Advanced Institute of Technology (SAIT)   (South Korea)

^b Ellipse Technologies   (United States)

^c MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Adjustable stiffness; medical robot; snake like manipulator; variable neutral line mechanism

Indexed keywords

STIFFNESS;

ADJUSTABLE STIFFNESS; HYPER-REDUNDANT MANIPULATOR; MEDICAL ROBOTS; MINIMALLY INVASIVE SURGERY; PAYLOAD CAPABILITIES; SINGLE-PORT SURGERIES; SNAKE LIKES; STIFFNESS CHARACTERISTICS;

MANIPULATORS;

EID: 84898473471     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2013.2287975     Document Type: Article

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