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Title: Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery
Abstract

This paper outlines the design of a reconfigurable, partially disposable, tendon-driven robotic arm for providing assistance in laparoscopic surgery. The rationale for its development and design objectives are provided, followed by a description of its mechanical design. Kinematic simulations to assess workspace are presented, and a first-stage assessment of the functionality of a prototype using a custom test bench is also included.

Authors:
;
Award ID(s):
1659777
Publication Date:
NSF-PAR ID:
10230168
Journal Name:
Frontiers in Biomedical Devices
Sponsoring Org:
National Science Foundation
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