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- W4387487589 abstract "Transluminal endoscopic surgery has been widely used clinically for minimally invasive surgery (MIS). However, the size and dexterity of manipulators limit the development of this kind of surgical robot. To address this issue, we proposed a compact robotic wrist based on flexible parallel mechanisms with 4 degrees of freedom (DOFs), which is capable of dexterous manipulation in narrow cavity. The robotic wrist has an outer diameter of 4.5 mm with a 2.1mm central tool channel. The kinematic model of the flexible parallel mechanism is established. The dexterity and coordination of the robotic wrist are demonstrated in terms of motion control in narrow and complex cavity, and pepper seed grasping." @default.
- W4387487589 created "2023-10-11" @default.
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- W4387487589 date "2023-01-01" @default.
- W4387487589 modified "2023-10-16" @default.
- W4387487589 title "A Flexible Parallel Robotic Wrist Towards Transluminal Endoscopic Surgery" @default.
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- W4387487589 doi "https://doi.org/10.1007/978-981-99-6489-5_34" @default.
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