In vivo experiments of a surgical robot with vision field control for single port endoscopic surgery.
Yuta SekiguchiYo KobayashiHiroki WatanabeYu TomonoTakehiko NoguchiYu TakahashiKazutaka ToyodaMunenori UemuraSatoshi IeiriTakeshi OhdairaMorimasa TomikawaMakoto HashizumeMasakatsu G. FujiePublished in: EMBC (2011)
Keyphrases
- surgical robot
- minimally invasive
- robot assisted
- coronary artery bypass
- minimally invasive surgery
- end effector
- beating heart
- tissue deformation
- vision system
- force feedback
- degrees of freedom
- intraoperative
- image guided
- augmented reality
- control system
- image analysis
- soft tissue
- control strategy
- computer vision
- visual servoing
- inverse kinematics
- clinical applications
- robotic arm
- visual feedback
- position and orientation
- anatomical structures
- remote sensing
- image processing