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Kinematics, control and workspace analysis of a bowden wire actuated manipulator for minimally invasive single-port surgery

Salman Can, Brian Jensen, Emmanuel C. Dean-Leon, Christoph Staub, Alois Knoll, A. Fiolka, Armin Schneider, Alexander Meining, Hubertus Feussner. Kinematics, control and workspace analysis of a bowden wire actuated manipulator for minimally invasive single-port surgery. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, December 11-14, 2012. pages 848-853, IEEE, 2012. [doi]

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