IEEE - Institute of Electrical and Electronics Engineers, Inc. - Tension propagation analysis of novel robotized surgical platform for transumbilical single-port access surgery

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Jongwon Lee ; Yong-Jae Kim ; Se-gon Roh ; Jiyoung Kim ; Younbaek Lee ; Jeonghun Kim ; Byungjune Choi ; Kyoungsik Roh
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 3,083 - 3,089
ISBN (Electronic): 978-1-4673-6358-7
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696793
Regular:

In this paper, tension propagation analysis of a newly designed multi-DOF robotic platform for single-port access surgery (SPS) is presented. The analysis is based on instantaneous kinematics of... View More

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