Active Stiffness Tuning of a Spring-Based Continuum Robot for MRI-Guided Neurosurgery.
IEEE Transactions on Robotics(2018)
摘要
Deep intracranial tumor removal can be achieved if the neurosurgical robot has sufficient flexibility and stability. Toward achieving this goal, we have developed a spring-based continuum robot, namely a minimally invasive neurosurgical intracranial robot (MINIR-II) with novel tendon routing and tunable stiffness for use in a magnetic resonance imaging (MRI) environment. The robot consists of a pa...
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关键词
Springs,Tendons,Motion segmentation,Routing,Neurosurgery,Shape
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