Development of a Cable Actuated Joint for a Surgical Robotic Flexible Arm

摘要

Advances in robotics surgery are focused on facilitating
\ncomplex surgical procedures and overcoming existing
\nnatural limitations associated with Minimal Invasive Surgery
\n(MIS). Distal dexterity in the robotic manipulator is of primary
\nimportance for tool manipulation and the performance
\nof complex surgical tasks as suturing. The present work
\ndeals with the development of a cable actuated 2 degrees of
\nfreedom (DoF) joint mechanism to be inte