Berengere Bardou

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The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently(More)
The use of flexible cable-driven systems is common in medicine (endoscope, catheter...). Their flexiblity allows surgeons to reach internal organs through sinuous and constrained ways. Unfortunately these systems are subject to backlash due to their internal mechanism. These non linearities raise many difficulties when robotizing and controlling such(More)
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