Surgical Robotic Arm with Pneumatic Semi-active Joints for Load Reduction on Tool-insertion Port

In minimally invasive robotic surgeries, insertion ports become the fulcrum of surgical instruments such as forceps. Misalignment between the insertion port and the remote center of motion (RCM) of the robotic arm or external forces on the tip of its forceps generate undesirable forces and friction...

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Veröffentlicht in:	Sensors and materials 2020-01, Vol.32 (3), p.1015
Hauptverfasser:	Aizawa, Koki, Kanazawa, Masao, Haraguchi, Daisuke, Tadano, Kotaro
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Insertion Medical instruments Misalignment Multinational space ventures Robot arms Robot control Robotics Surgical instruments
Online-Zugang:	Volltext
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