Dynamic friction modeling and control for flexible tendon-sheath mechanism

• Main Author: Do, Thanh Nho
• Other Authors: Phee Soo Jay, Louis
• Format: Theses and Dissertations
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Mechanical engineering::Surgical assistive technology; DRNTU::Engineering::Mechanical engineering::Mechatronics; DRNTU::Engineering::Mechanical engineering::Control engineering
• Online Access: http://hdl.handle.net/10356/62502
• Institution: Nanyang Technological University

Natural Orifice Transluminal Endoscopic Sugery (NOTES) allows surgeons to perform efficient, higher fidelity, and complex tasks for surgical treatment while avoiding unexpected damages such as tissue trauma and reducing recovery time after the surgery. To actuate joints at the distal end of flexible...