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Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery

Antonia Tzemanaki, Lukasz Fracczak, David Gillatt, Anthony Koupparis, Chris Melhuish, Raj Persad, Edward Rowe, Anthony G. Pipe, Sanja Dogramadzi. Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. In 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, June 26-29, 2016. pages 55-60, IEEE, 2016. [doi]

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