A 4-DOF 10mm laparoscopic instrument with Raspberry Pi-based control, SpaceMouse teleoperation, and an analytical scissor-linkage model validated to low error against CAD and motion capture is integrated with the ATHENA robot for simulated surgery.
A Pneumatically Driven Surgical Manipulator With a Flexible Distal Joint Capable of Force Sensing,
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Control Architecture and experimental validation of a Novel Surgical Robotic Instrument
A 4-DOF 10mm laparoscopic instrument with Raspberry Pi-based control, SpaceMouse teleoperation, and an analytical scissor-linkage model validated to low error against CAD and motion capture is integrated with the ATHENA robot for simulated surgery.