A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator(CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

人与武器

在设计与研制大威力、高性能武器的过程中,我们应认真分析人在武器系统中的重要地位与人的因素对武器系统性能发挥的影响,把握好人与武器之间的相互关系。 1 人与武器的整体性 在人与武器所组成的系统中,人与武器不是单独的、分离的、毫无关联的两个部分,而是一个整体。我们不应抛开武器的使用者,单方面地追求武器的高技术含量、大威力性能,而应把人与武器作为一个整体去分析研究,在提高武器技术、战术性能的同时。