@article{wang_development_nodate,
	title = {Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single-site surgery ({LESS})},
	issn = {1478-596X},
	url = {http://onlinelibrary.wiley.com/doi/10.1002/rcs.1838/abstract},
	doi = {10.1002/rcs.1838},
	abstract = {Background

For current LESS robotic systems, the trade-off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms.


Methods

Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7-DoF compliant status and 5-DoF rigid status according to the operation requirement. Screw theory and product exponential formula are used to quantify the kinematic performance.


Results

The stiffness of the manipulation arm promotes 3.03 to 4.12 times from compliant to rigid CSCS with maximum payload of 10 N in rigid status. The shortest rigid/compliant switching time is 5 s. The precision of a tracking test and an ex vivo procedure verified the accuracy and effectiveness of the controllable stiffness manipulation arms.


Conclusions

This robot could potentially improve the surgical performance and further expand robotic LESS procedures.},
	language = {en},
	journal = {The International Journal of Medical Robotics and Computer Assisted Surgery},
	author = {Wang, Jianchen and Wang, Shuxin and Li, Jinhua and Ren, Xiangyun and Briggs, Randall Miller},
	keywords = {controllable stiffness, laparoendoscopic single-site surgery (LESS), phase-change materials (PCM) alloy, robotic manipulation arm, surgical robot},
	pages = {n/a--n/a}
}

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This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms. Methods Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7-DoF compliant status and 5-DoF rigid status according to the operation requirement. Screw theory and product exponential formula are used to quantify the kinematic performance. Results The stiffness of the manipulation arm promotes 3.03 to 4.12 times from compliant to rigid CSCS with maximum payload of 10 N in rigid status. The shortest rigid/compliant switching time is 5 s. The precision of a tracking test and an ex vivo procedure verified the accuracy and effectiveness of the controllable stiffness manipulation arms. Conclusions This robot could potentially improve the surgical performance and further expand robotic LESS procedures.","language":"en","journal":"The International Journal of Medical Robotics and Computer Assisted Surgery","author":[{"propositions":[],"lastnames":["Wang"],"firstnames":["Jianchen"],"suffixes":[]},{"propositions":[],"lastnames":["Wang"],"firstnames":["Shuxin"],"suffixes":[]},{"propositions":[],"lastnames":["Li"],"firstnames":["Jinhua"],"suffixes":[]},{"propositions":[],"lastnames":["Ren"],"firstnames":["Xiangyun"],"suffixes":[]},{"propositions":[],"lastnames":["Briggs"],"firstnames":["Randall","Miller"],"suffixes":[]}],"keywords":"controllable stiffness, laparoendoscopic single-site surgery (LESS), phase-change materials (PCM) alloy, robotic manipulation arm, surgical robot","pages":"n/a–n/a","bibtex":"@article{wang_development_nodate,\n\ttitle = {Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single-site surgery ({LESS})},\n\tissn = {1478-596X},\n\turl = {http://onlinelibrary.wiley.com/doi/10.1002/rcs.1838/abstract},\n\tdoi = {10.1002/rcs.1838},\n\tabstract = {Background\n\nFor current LESS robotic systems, the trade-off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms.\n\n\nMethods\n\nEach manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7-DoF compliant status and 5-DoF rigid status according to the operation requirement. Screw theory and product exponential formula are used to quantify the kinematic performance.\n\n\nResults\n\nThe stiffness of the manipulation arm promotes 3.03 to 4.12 times from compliant to rigid CSCS with maximum payload of 10 N in rigid status. The shortest rigid/compliant switching time is 5 s. The precision of a tracking test and an ex vivo procedure verified the accuracy and effectiveness of the controllable stiffness manipulation arms.\n\n\nConclusions\n\nThis robot could potentially improve the surgical performance and further expand robotic LESS procedures.},\n\tlanguage = {en},\n\tjournal = {The International Journal of Medical Robotics and Computer Assisted Surgery},\n\tauthor = {Wang, Jianchen and Wang, Shuxin and Li, Jinhua and Ren, Xiangyun and Briggs, Randall Miller},\n\tkeywords = {controllable stiffness, laparoendoscopic single-site surgery (LESS), phase-change materials (PCM) alloy, robotic manipulation arm, surgical robot},\n\tpages = {n/a--n/a}\n}\n\n","author_short":["Wang, J.","Wang, S.","Li, J.","Ren, X.","Briggs, R. 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