2018
A Compliant Robotic Instrument With Coupled Tendon Driven Articulated Wrist Control for Organ Retraction
RA-L 2018
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