Modeling of a 4-DOF Flexible Laparoscopic Instrument for Robot-Assisted Minimally Invasive Surgery

Background: Flexible surgical instruments for Robot-Assisted Minimally Invasive Surgery (RAMIS) face a critical limitation: the inability to rotate the distal head while the instrument is in a bent configuration, which restricts the maneuverability in narrow surgical workspaces. Methods: This paper...

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Detalhes bibliográficos

Principais autores:	Calin Vaida, Ionut Zima, Florin Graur, Bogdan Gherman, Vasile Bulbucan, Paul Tucan, Alexandru Pusca, Florin Zaharie, Pierre Mougenot, Adrian Pisla, Damien Chablat, Nadim Al Hajjar, Doina Pisla
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2026-02-01
coleção:	Robotics
Assuntos:	flexible surgical instrument robot-assisted minimally invasive surgery kinematics tendon-driven laparoscopic tool surgical robotics continuum robot
Acesso em linha:	https://www.mdpi.com/2218-6581/15/2/46
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