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Medical robotics plays an increasingly important role in minimally invasively surgery (MIS), where access is usually through a small incision on the body. This paper introduces the conceptual design of a compact MIS robot that integrates a continuum manipulator with remote center-of-motion (RCM) mechanism. This robotic system allows surgical instruments to enhance the dexterity inside the patient's...
There is a surge of research interest in the field of “continuum robotics.” Robots created under this paradigm offer many advantages and represent unique features in terms of flexibility, dexterity, safety, and weight reduction. This paper introduces a novel continuum manipulator that integrates multiple layers of compliant planar springs—a structure that provides several notable advantages over existing...
This paper introduces a novel continuum-style robot that integrates multiple layers of compliant modules. Its essential features lie in that its bending is not based on natural compliance of a continuous backbone element or soft skeletal elements but instead is based on the compliance of each structured planar module. This structure provides several important advantages. First, it demonstrates a large...
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