Xiuhong Tang

FABRIKv: A Fast, Iterative Inverse Kinematics Solver for Surgical Continuum Robot with Variable Curvature Model

Due to the advantages of high flexibility, large workspace, and good human-body compatibility, flexible tendon-driven surgical continuum robots have attracted a lot of attention in robot-assisted minimally invasive surgery. However, due to the coupling of the position and angle of the continuum robo…