Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning.
Alan KuntzChris BowenCenk BaykalArthur W. MahoneyPatrick L. AndersonFabien MaldonadoRobert J. WebsterRon AlterovitzPublished in: ICRA (2018)
Keyphrases
- motion planning
- degrees of freedom
- minimally invasive surgery
- end effector
- surgical robot
- inverse kinematics
- robot arm
- trajectory planning
- configuration space
- kinematic model
- path planning
- robotic arm
- humanoid robot
- mobile robot
- medical images
- multi robot
- control law
- pose estimation
- three dimensional
- force feedback
- joint angles
- mechanical systems
- robot assisted
- surgical procedures
- anatomical structures
- collision free
- visual servoing