Reinforcement Learning Control of A Novel Magnetic Actuated Flexible-joint Robotic Camera System for Single Incision Laparoscopic Surgery
Dong Xu Yuanlin Zhang Wenshuai Tan Hongxing Wei Dong Xu Yuanlin Zhang Wenshuai Tan Hongxing Wei
This paper describes the control of a novel Magnetic Actuated Flexible-joint Robotic Surgical (MAFRS) camera system with four degrees of freedom (4-DOF) for single incision laparoscopic surgery. Based on the idea of motion decoupling, we designed a novel MAFRS system which is consists of an external driving device and a motor-free insertable wireless robotic device with a hollow flexible joint. Du...