— The synthesis of movement and the biomechanics are introduced into the design methodology for the development of a minimally invasive surgery (MIS) robot manipulator : compact, lightweight and close to the surgical gesture. The goal of this study is progress toward a next-generation surgical robot system that will help surgeons deliver health-care more… (More)
We prove the regularity of weak 1/2−harmonic maps from the real line into a sphere. The key point in our result is first a formulation of the 1/2−harmonic map equation in the form of a non-local linear Schrödinger type equation with a 3-terms commutators in the right-hand-side. We then establish a sharp estimate for these 3-commutators.