2021
A Miniature Manipulator With Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery
RA-L 2021
This letter presents a miniature manipulator with variable stiffness towards minimally invasive transluminal endoscopic surgery, such as the endoscopic submucosal dissection (ESD). The manipulator comprises hollow modules with holes in the sidewall, compact with a 4 mm diameter, and dexterous with s