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Advanced Robotics Volume 33, 2019 - Issue 19
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Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction

Yuanyuan ZhouState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China;Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, People’s Republic of China;Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China;Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of ChinaORCID Iconhttps://orcid.org/0000-0002-4402-910XView further author information
ORCID Icon,
Guohao JiangState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China;Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, People’s Republic of China;Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China;Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of ChinaView further author information
,
Cheng ZhangState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China;Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China;Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of ChinaView further author information
,
Zhidong WangState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China;Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China;Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, JapanView further author information
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Zhongtao ZhangDepartment of General Surgery, Beijing Friendship Hospital Capital Medical University, Beijing, People’s Republic of ChinaView further author information
&
Hao LiuState Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, People’s Republic of China;Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, People’s Republic of China;Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, People’s Republic of ChinaCorrespondence[email protected]
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Pages 985-995 | Received 05 Dec 2018, Accepted 29 Jul 2019, Published online: 30 Aug 2019

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