The structural synthesis of Tendon-Driven manipulators having a pseudotriangular structure matrix
International Journal of Robotics Research
An HMM approach to realistic haptic human-robot interaction
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A virtual reality surgery simulation of cutting and retraction in neurosurgery with force-feedback
Computer Methods and Programs in Biomedicine
Real-time deformable models for surgery simulation: a survey
Computer Methods and Programs in Biomedicine
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Influence of vision and haptics on plausibility of social interaction in virtual reality scenarios
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
Modeling of transmission characteristics across a cable- conduit system
IEEE Transactions on Robotics
Handshake: Realistic human-robot interaction in haptic enhanced virtual reality
Presence: Teleoperators and Virtual Environments
Force Feedback Benefit Depends on Experience in Multiple Degree of Freedom Robotic Surgery Task
IEEE Transactions on Robotics
A compliant contact model with nonlinear damping for simulation of robotic systems
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.