Adaptive control of position compensation for cable-conduit mechanisms used in flexible surgical robots

• Main Authors: Thanh Nho, Do, Tjahjowidodo, Tegoeh, Lau, Michael Wai Shing, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery
• Online Access: https://hdl.handle.net/10356/105803; http://hdl.handle.net/10220/20899
• Institution: Nanyang Technological University

Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a method that allows for performing complex operations via natural orifices without skin incisions. Its main tool is a flexible endoscope. Cable-Conduit Mechanisms (CCMs) are often used in NOTES because of its simplicity, safety in design, a...