Hoi Wut Yip

A Compliant Robotic Instrument With Coupled Tendon Driven Articulated Wrist Control for Organ Retraction

Organ retraction is a common and important task in minimally invasive surgery. It is a surgical technique to push aside or manipulate tissues/organs to improve the access and visualization of the surgical sites. Typical manual retractors are rigid and without any articulation. Physicians often strug