Sunny Zhang

Development of a Miniaturized 6-DoF Surgical Instrument with a 4-Mm Elbow and 3-Mm Wrist for Transoral Robotic Surgery

Current platforms for Transoral Robotic Surgery (TORS) are suboptimal for confined oropharyngeal workspaces, particularly in pediatric applications. To address this, we present the design and characterization of a novel cable-driven robotic instrument providing 6 degrees-of-freedom (DoF)—shaft roll,…