Page 405 - Flexible Robotics in Medicine

398 Chapter 17

A robotic endoscopy system with variable stiffness and flexible manipulators for NOTES in
this chapter is composed of a camera and two manipulators based on the endoscopic
platform. The manipulator is compliant and variable stiffness, and the wrist joint is flexible.
The stiffness of the compliant manipulator can be changed in real-time during the operation
to fulfill the accuracy and safety requirements of the surgery environment. The experiment
verified the variation of the stiffness. Results showed that the stiffness of the manipulator is
variable, which can be tuned by the tension of the wires. As the robotic system is for
medical applications, the experiment described in this chapter is only a preliminary test.
More experiments will verify the clinical feasibility in the future further.

Acknowledgment

This work was supported by the National Key Research and Development Program, the Ministry of Science and
Technology (MOST) of China (No. 2018YFB1307703).

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