Towards a Multi-imager Compatible Continuum Robot with Improved Dynamics Driven by Modular SMA
Qingpeng Ding Yongkang Lu Andre Kyme Shing Shin Cheng Qingpeng Ding Yongkang Lu Andre Kyme Shing Shin Cheng
Most existing surgical robots employ straight rigid instruments and are not compatible with imaging modalities, especially magnetic resonance imaging (MRI) that presents restrictive constraints on the robot and actuator materials. Employing continuum distal end effector and fulfilling multi-imager compatibility will potentially lead to wide adoption of surgical robots in intraoperative image-guide...