4 accepted papers
Flexible tendon-driven multi-segment robotic bronchoscopes can reach peripheral lung regions for minimally invasive diagnosis and therapy. However, long tendon transmissions introduce friction, elasticity, and backlash, which couple the motion of adjacent segments and reduce operational accuracy and…
This research addresses the challenge of achieving high-precision tracking of time-varying trajectories under nonlinear disturbances and motion constraints in microsurgical robots. A hybrid control framework integrating fuzzy adaptive sliding mode control with radial basis function neural networks i
Creating an intelligent surgical environment requires not only advanced robotic systems but also optimized microscopic imaging. However, autofocus remains a fundamental challenge, with current methods suffering from slow iterative processes or directional ambiguity, which compromises real-time perfo
Cable-driven continuum robots in bronchoscopic procedures hold immense potential to revolutionize the diagnosis and treatment of lung cancer. However, robotic bronchoscopes in current studies are typically large in size and inflexible. Therefore, this article introduces a novel cable-driven continuu…