Anatomy-Aware Dexterity-Driven Design Optimization of Surgical Continuum Robots
This work presents a design optimization method that considers both dexterity and anatomy in the design of a bimanual dexterous sheaths robot for performing procedures on cancerous polyps in colon anatomies, achieving a 78% higher RVDSA on average than optimizing for 3D voxel coverage alone.
Tony Qin, Peter Connor, Khoa T. Dang et al.
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