"Warm-up” Quiz

What is the main drawback of open surgery?

• Lack of visibility
  

• High invasiveness

• Limited dexterity

• Indirect vision

What was the first robot used for surgery?

• Puma 560

• Unimate

• ASIMO

• Shakey

In laparoscopy, how does the surgeon see the surgical field?

• Directly with their eyes

• Through a microscope

• Through a camera on a screen

• Using X-ray imaging

Which surgical robotic platform, introduced around 2000, revolutionized minimally invasive laparoscopic surgery?

• Probot

• Unimate

• da Vinci Surgical System

• Shakey

Why do continuum robots excel in robotic surgery?

• High compliance and flexibility in confined spaces

• High rigidity for heavy payloads

• Simple manufacturing

• Minimal control effort

Which actuation principle uses multiple pre-curved, concentric tubes that are rotated relative to each other to achieve bending?

• Tendon-driven

• Concentric-tube

• Pneumatic/fluidic

• Magnetic

Which of the following is NOT one of the four actuation principles for continuum robots shown in the slides?

• • Tendon-driven

• Concentric-tube

• Magnetic

• Rack-and-pinion

Continuum robots can be modeled under the constant-curvature assumption, meaning each segment bends with a uniform radius.

• True

• False

In the constant-curvature forward kinematics model, the mapping sequence is:

• Task → Configuration → Actuation

• • Actuation → Configuration → Task

• Configuration → Task → Actuation

• Configuration → Actuation → Task

Which relation correctly defines the bending radius RRR in the constant-curvature model?

• R=1/κ

• R=κR

• R=1/κ^2

• R=L/θ