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Dynamic model and control for a cable-driven continuum manipulator used for minimally invasive surgery

Fei Qi1, Bai Chen2, Shuyuan Gao1

  • 1School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou, Jiangsu Province, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|January 26, 2021
PubMed
Abstract

Keywords:
Kane's methodcable-drivencontinuum robotcontroldynamic model

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