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This paper proposes a calibration algorithm for a three degrees-of-freedom (DOF) planar cable-driven parallel robot. The developed calibration algorithm uses a low-cost laser distance sensor to measure the distance between an end-effector and a laser reflector, and also uses the cable lengths measured by using motor encoders. MATLAB simulation results show that using a single laser distance sensor...
Percutaneous intervention has attracted significant interest in recent years, but many of today's needles and catheters can only provide limited control of the trajectory between an entry site and soft tissue target. In order to address this fundamental shortcoming in minimally invasive surgery, we describe the first prototype of a bioinspired multipart probe that can steer along planar trajectories...
Percutaneous interventions have attracted significant interest in recent years, but most approaches still rely on straight line trajectories between an entry site and a soft tissue target. Thus, to this day, a flexible probe able to bend along predefined curvilinear trajectories within a highly compliant medium without buckling is still an open research challenge. In this paper, we describe the concept...
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