This paper proposes a master-slave operated robotic system that features the novel slave manipulator with a modular distal continuum section to address the shortcomings of traditional transanal endoscopic microsurgery (TEM). The slave manipulator consists of two 7-DoF surgical instruments and a 5-DoF endoscopic arm that are designed with distal continuum structures and unfolded … [Read more...] about A Robotic System for Transanal Endoscopic Microsurgery: Design, Dexterity Optimization, and Prototyping
Finite element analysis
Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA
Soft robotics modeling is a research topic that is evolving fast. Many techniques are present in literature, but most of them require analytical models with a lot of equations that are time consuming, hard to resolve, and not so easy to handle. For this reason, the help of a soft mechanics simulator is essential in this field. This article presents a tutorial on how to build a … [Read more...] about Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA
