2024
DOI: 10.3390/biomimetics9040199
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Chorda Dorsalis System as a Paragon for Soft Medical Robots to Design Echocardiography Probes with a New SOM-Based Steering Control

Mostafa Sayahkarajy,
Hartmut Witte,
Ahmad Athif Mohd Faudzi

Abstract: Continuum robots play the role of end effectors in various surgical robots and endoscopic devices. While soft continuum robots (SCRs) have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot, considering the concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as transesophageal echocardiography (TEE). T… Show more

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