@inproceedings{simaan_dexterous_2004,
	title = {A dexterous system for laryngeal surgery},
	volume = {1},
	doi = {10.1109/ROBOT.2004.1307175},
	abstract = {This work presents a design overview of a novel high DoF (degrees-of-freedom) system being developed for minimally invasive surgery of the throat. The system is designed to allow remote operation of 2-3 tools with high tip dexterity to enable suturing and soft-tissue manipulation while using the patient's mouth as the only entry port. The slave is a 34 DoF unit equipped with three snake-like distal dexterity units for surgical tool manipulation. Each of these units is a multi-backbone snakelike mechanism equipped with a detachable milli parallel manipulator allowing interchangeable tools to be used. The paper presents the outline of the kinematic analysis of the snake-like units and proposes one possible actuation redundancy resolution to allow further downsize scalability while reducing the risk of buckling of the primary backbone of the snake-like units. Finally, The work presents a first early experiment with a prototype of the snake-like unit.},
	author = {Simaan, N. and Taylor, R. and Flint, P.},
	month = apr,
	year = {2004},
	keywords = {Minimally invasive surgery, Mouth, Prototypes, Robots, Scalability, Spine, Surgical instruments, Wrist, detachable milli parallel manipulator, dexterous manipulators, dexterous system, kinematics, laryngeal surgery, manipulator kinematics, medical robotics, multibackbone snakelike mechanism, patient treatment, position control, soft-tissue manipulation, surgical tool manipulation, throat surgery},
	pages = {351--357 Vol.1}
}

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