The Raven I and the Raven II surgical robots, as open research platforms, have been
serving the robotic surgery research community for ten years. The paper 1) briefly presents …

Background This paper aims to comprehensively review current designs of Multi-degree-of-
freedom (Multi-DOF) wrist mechanisms and the applications of Multi-DOF surgical …

Minimally invasive surgery (MIS) is a viable alternative to general surgery with distinct
advantages. Robotically assisted MIS, has been demonstrated to achieve higher accuracy …

In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic
instrument tip force/torques in robotic-assisted minimally invasive surgery systems is …

This paper describes a novel sensorless force estimation algorithm for the rigid link parallel
wrist mechanism of a robotic surgical instrument. The method utilizes novel reaction force …

In this paper, a novel four degrees-of-freedom (4DOF) articulated parallel forceps
mechanism with a large orientation workspace (±90 deg in pitch and yaw, 360 deg in roll …

In this paper, a redundant robotic forceps system with a modular architecture for minimally
invasive surgery (MIS) is presented. The system consists of two parts: a 7 degrees of …

In this study, a polyarylate fiber rope, which is a high-strength synthetic fiber rope, is used in
the wire drive mechanism of a multi-degree of freedom (DOF) robotic forceps to evaluate its …

In many practical cases, such as in logistics applications, grasping and manipulation of
objects must be carried out in confined spaces with obstacles. Limited room is then available …

This paper introduces a novel dexterous 3-DOF parallel wrist-gripper assembly with a large
singularity-free range of motion. It consists of a zero-torsion 2-DOF parallel wrist and a 1 …