Joint rotation angle sensing of flexible endoscopic surgical robots

• Main Authors: Lai, Wenjie, Cao, Lin, Phan, Phuoc Thien, Wu, I-Wen, Tjin, Swee Chuan, Phee, Soo Jay
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2021
• 主題: Engineering::Mechanical engineering; Surgical Robotics; Robot Sensing Systems
• 在線閱讀: https://hdl.handle.net/10356/147786
• 機構: Nanyang Technological University

Accurate motion control of surgical robots is critical for the efficiency and safety of both state-of-the-art teleoperated robotic surgery and the ultimate autonomous robotic surgery. However, fine motion control for a flexible endoscopic surgical robot is highly challenging because of the shape-dep...