Analytical workspace formulation and transmission-aware dynamics methodology for a serial spherical microsurgery tool, with open-source software and experimental validation on a vitreoretinal surgery prototype.
Evaluating robotic approach techniques for the insertion of a straight instrument into a vitreoretinal surgery trocar,
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Geometric Workspace Analysis and Transmission-Aware Dynamics of a Serial Spherical Tool for Microsurgery
Analytical workspace formulation and transmission-aware dynamics methodology for a serial spherical microsurgery tool, with open-source software and experimental validation on a vitreoretinal surgery prototype.