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This paper presents a novel design and preliminary kinematic analysis of an insertable robotic effector platform (IREP) for single port access (SPA) surgery. The IREP robot can be deployed into body cavity through a ??15 mm skin incision to perform SPA procedures. It consists of two snake-like continuum robots as slave surgical assistants for tissue manipulation, two parallelogram mechanisms for the...
This paper presents a unified mathematical framework for modeling and evaluating the performance of multiple robotic arms that operate on hollow suspended organs. This framework is applied to a novel two-armed hybrid robotic system being developed for ophthalmic vitreous surgeries. Four cases are designated to capture the general movements required for any surgical procedure associated with hollow...
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