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
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Surgical Robotics; Robot Sensing Systems
• Online Access: https://hdl.handle.net/10356/147786
• Institution: 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...