@inproceedings{876c35614dd149e7b28ccccbfcfe0b0d,
title = "A Flexible Parallel Robotic Wrist Towards Transluminal Endoscopic Surgery",
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.",
keywords = "Flexible parallel mechanism, Surgical robot, Transluminal endoscopic surgery",
author = "Jinpeng Diao and Chao Qian and Xiao Xiao and Xingguang Duan and Changsheng Li",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",
year = "2023",
doi = "10.1007/978-981-99-6489-5\_34",
language = "English",
isbn = "9789819964888",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "420--430",
editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhiyong Wang and Zhouping Yin and Lianqing Liu",
booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",
address = "Germany",
}