Abstract: Robotassisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. The remote centerofmotion (RCM) mechanism is one of the main components of a MIS robot. However, the widely used ...

Abstract: If a part of a mechanism is restrained to rotate about a point not physically belonging to it, the mechanism is called a remote centerofmotion (RCM) mechanism. The RCM mechanisms are generally designed especially for ...

Abstract: Natural orifice translumenal endoscopic surgery (NOTES) has offered significant advantages of less pain, reduced recovery time, and minimized scar after operation, demonstrating a promising development prospect. However, ...

Abstract: This paper presents a novel design of soft arm with triplet spiral balloons weaving and a shape memory polymer (SMP) backbone mechanism, which enables dexterous actuation and an additional variable stiffness function. The ...

Abstract: Robotic grippers, which act as the end effector and contact the objects directly, play a crucial role in the performance of the robots. In this paper, we design and analyze a new robotic gripper based on the braided tube. ...