An Autonomous Robotic Flexible Endoscope System with a DNA-inspired Continuum Mechanism
Xue Zhang Weibing Li Wing Yin Ng Yisen Huang Yitian Xian Philip Wai Yan Chiu Zheng Li Xue Zhang Weibing Li Wing Yin Ng Yisen Huang Yitian Xian Philip Wai Yan Chiu Zheng Li
In this paper, we proposed an autonomous robotic flexible endoscope system for the laparoscopic bariatric surgery (LBS). This system comprises a UR5 robot and a flexible endoscope equipped with a novel continuum joint, named reinforced double helix continuum mechanism. Compared with the simple helix structure, the compressional and torsional stiffness of the proposed joint are improved significant...