Control formulation of a highly complex wire-driven mechanism in a surgical robot based on an extensive assessment of surgical tool-tip position/orientation using optical tracking system.
Pittawat ThiuthipsakulJackrit SuthakornPublished in: ROBIO (2014)
Keyphrases
- highly complex
- surgical robot
- end effector
- position and orientation
- minimally invasive surgery
- degrees of freedom
- minimally invasive
- inverse kinematics
- robot assisted
- robot arm
- vision system
- visual servoing
- highly nonlinear
- robot manipulators
- force feedback
- pose estimation
- intraoperative
- robotic arm
- augmented reality
- pre operative
- image guided
- control method
- motion planning
- resonant frequency
- control system
- computer graphics
- image segmentation
- control law
- virtual reality
- path planning