Magnetically-Connected Modular Reconfigurable Mini-robotic System with Bilateral Isokinematic Mapping and Fast On-site Assembly towards Minimally Invasive Procedures
Xiao Xiao Shilei Xu Changsheng Li Xiaoyi Gu Huxin Gao Max Q.-H. Meng Hongliang Ren Xiao Xiao Shilei Xu Changsheng Li Xiaoyi Gu Huxin Gao Max Q.-H. Meng Hongliang Ren
This paper presents a modular and reconfigurable mini-robotic system with 5 degrees of freedom (DoFs) towards minimally invasive surgery (MIS). The mini-robotic system consists of two modules, a 2-DoFs rotational end-effector, and a 3-DoFs positioning platform. The 2-DoFs rotational end-effector is based on a spring-spherical joint mechanism, whose rotation is controlled by Bowden-cable. The 3-DoF...