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Communication Dans Un Congrès Année : 2023

Modelling contact forces of a modular endoscope for the selection of stress-minimising configurations

Résumé

In this work, a modelling approach is proposed to evaluate the dimensioning of the robot compliant modules, in a procedure-specific way, while taking into account contact with the environment. It also describes how to adapt the robot configuration to minimise mechanical stress on the modules by taking advantage of its hyperredundant architecture and by using tissue contact
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Dates et versions

hal-04502953 , version 1 (13-03-2024)

Identifiants

  • HAL Id : hal-04502953 , version 1

Citer

Benjamin Calmé, Lennart Rubbert, Yassine Haddab. Modelling contact forces of a modular endoscope for the selection of stress-minimising configurations. CRAS 2023 - 12th Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2023, Paris, France. ⟨hal-04502953⟩
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