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Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot...
Bone-attached robots and so-called microstereo-tactic frames are attracting increasing interest in the field of robot-assisted surgery due to the promising targeting accuracy they provide. The authors propose a passive Stewart-Gough platform which is attached to a patient's head via bone anchors. It serves as an instrument guidance in straight line incisions, such as minimally invasive cochlear implantation...
In this paper experimental results are presented to compare the performance of kinematically redundant parallel robots with respect to their non-redundant counterparts. The main purpose is to validate existing simulated, i.e. claimed, findings demonstrating the advantages of kinematic redundancy in terms of singularity avoidance and, therefore, accuracy and precision. Exemplarily, the kinematically...
In this paper five different optimization strategies for kinematically redundant mechanisms, i.e. mechanisms having additional actuator(s) in at least one kinematic chain, are presented. They are based on two main approaches, a discrete optimization and a classical continuous optimization. Exemplarily, a planar, kinematically redundant 3RRR-based mechanism is introduced. The position of its redundant...
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