Yixuan Kong — accepted AI-conference papers

2022

Design and Kinematic Modeling of In-Situ Torsionally-Steerable Flexible Surgical Robots

Yixuan Kong, Shuang Song, Ning Zhang, Jiaole Wang, Bing Li

RA-L 2022

Flexible robots have been widely used in minimally-invasive surgery because of their dexterity and accuracy. However, the torsion of end-effector under bending state usually produces unnecessary concomitant motion of the robot arm. This letter proposes a novel design of <i>in-situ</i> torsionally-st

Cited by 10 Source ↗Scholar ↗

2022

Dexterity Analysis and Motion Optimization of In-Situ Torsionally-Steerable Flexible Surgical Robots

Yixuan Kong, Jiaole Wang, Ning Zhang, Shuang Song, Bing Li

RA-L 2022

Flexible robots with <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">in-situ</i> torsion can be used in laryngeal endoscopic surgery which can maintain the position and approach vector of the end-effector during the operation. However, the inherent e

Cited by 16 Source ↗Scholar ↗