US9101379B2 - Tension control in actuation of multi-joint medical instruments - Google Patents
US9101379B2 - Tension control in actuation of multi-joint medical instruments - Google Patents …

Introduction: There is evidence that increasing therapy dose after stroke might promote
recovery. Unfortunately, in clinical practice, therapy dose is limited by financial and …

Aiming at the requirements of lightweight, low energy consumption and low inertia of the
manipulators for autonomous underwater vehicles, this article presents a novel underwater …

This paper investigates automation of soft tissue compression for robot-assisted surgery.
This is a fundamental task in surgery and includes interaction with a variety of tissues with …

Stroke is one of the leading causes of long-term upper limb impairment, which greatly
reduces the quality of life of stroke survivors and their ability to perform activities of daily …

This dissertation presents a method to protect objects from touch by the robot during
teleoperation. Using the point cloud obtained in real-time by a depth camera, a virtual fixture …

A medical instrument system includes a plurality of joints, a plurality of actuators, and a
plurality of transmission systems. The transmission systems have proximal ends respectively …

Abstract Advances in Minimally Invasive Surgery (MIS) are driven by the clinical demand to
reduce the invasiveness of surgical procedures so patients undergo less trauma and …