2 papers
cs.RO2026
Geometric Workspace Analysis and Transmission-Aware Dynamics of a Serial Spherical Tool for Microsurgery
Anestis Mablekos-Alexiou, Lyndon da Cruz, Christos Bergeles
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contr…
cs.RO2025
Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar
Ross Henry, Martin Huber, Anestis Mablekos-Alexiou +5
Advances in vitreoretinal robotic surgery enable precise techniques for gene therapies. This study evaluates three robotic approaches using the 7-DoF robotic arm for docking a micr…