3 accepted papers
Single-incision laparoscopic surgery (SILS) has emerged as a procedure to further improve cosmetic profits and reduce the postoperative pain of multiport laparoscopic surgery. However, SILS is a difficult operation due to the limited workspace or accessibility. To improve surgical convenience, flexi
For safety enhancement reasons, passive gravity compensation is widely applied in robotic systems used in minimally invasive surgery (MIS). MIS robotic systems have a remote center of motion (RCM) in which a surgical instrument conducts a fulcrum motion around a point of invasion. RCM mechanisms inc
In robotics, robotic arms should be smaller, less expensive, and able to demonstrate a better performance, in order to be utilized in various fields. However, expensive actuators and speed reducers are required to generate sufficient force at the end effector after overcoming the gravitational torqu…