A Flexible Surgical Robotic System for Removal of Early-Stage Gastrointestinal Cancers by Endoscopic Submucosal Dissection - Ka Chun Lau; Yun Yee Leung, Esther; Wai Yan Chiu, Philip; Yeung Yam; Yun Wong Lau, James; Carmen Chung Yan Poon (IEEE transactions on industrial informatics, 2016)
Keywords: Cancer; Continuum robot; Controllability; Controllers; Dissection; Electrostatic discharges; Elongation; Endoscopes; endoscopic submucosal dissection (ESD); endoscopic surgery; Endoscopy; Ergonomics; In vivo methods and tests; Lesions; Robot arms; Robot kinematics; Robots; Sheaths; Surgeons; Surgery; Surgical instruments; surgical robot; tendon–sheath (TS)