%0 Journal Article
%T Design and modeling of a novel robotic arm with multiple
%A Hangfei Zhou
%A Jian Fei
%A Zhen Yang
%A Zhuang Fu
%J Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
%@ 2041-2983
%D 2019
%R 10.1177/0954406218810304
%X This paper presents a novel miniature robotic arm with four degrees of freedom and one end-effector. The two joints of the robotic arm are multiple-segment, which consist of several serial plates with tiny cavities. Kinematic modeling of the robotic arm has been completed for subsequent implementation. With multiple-segment joints, the robotic arm gets smooth, linear, and flexible property. Simulations and experiments show that the robot can be used in abdominal single-port minimally invasive surgery for its unique operation capability
%K Multiple-segment
%K minimally invasive
%K robotic arm
%K kinematic modeling
%K simulation
%U https://journals.sagepub.com/doi/full/10.1177/0954406218810304