Synthesis and Workspace Study of Endoscopic Extenders with Flexible Stem
نویسندگان
چکیده
This paper studies and formulates the workspace of laparoscopic extenders(e.g. graspers, needle drivers, scissors etc.)with exible stems, that provide additional DOF, and dexterity at the surgical sight. Optimization techniques are used to synthesis the designs of exible stems. The dexterous workspace is determined for 3 di erent types of designs. By de ning a new dexterity measure the number of joints for each design is optimized. Also, the three designs are compared with each other and the most dexterous designs are determined.
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