Current tool positioning through bending the last 10 cm. of the scope
Endo-platform provides finer tool positioning
Spherical joint, 3-tendon control
Closed-loop control implemented
Current tool positioning through bending the last 10 cm. of the scope
Endo-platform provides finer tool positioning
Spherical joint, 3-tendon control
Closed-loop control implemented
Shankar Sastry (sastry@robotics.eecs.berkeley.edu) / June 1995.