Surgical assistant manipulator with diagonal joints and multi-stage telescopic screws for laparoscopic solo surgery.
Ayumu SasakiToshikazu KawaiYuji NishizawaAtsushi NishikawaTatsuo NakamuraPublished in: Int. J. Comput. Assist. Radiol. Surg. (2022)
Keyphrases
- multistage
- laparoscopic surgery
- minimally invasive surgery
- degrees of freedom
- robot assisted
- operating room
- surgical instruments
- surgical robot
- master slave
- minimally invasive
- robotic assisted
- production system
- intraoperative
- end effector
- single stage
- stochastic optimization
- dynamic programming
- stochastic programming
- visual feedback
- surgical procedures
- surgical tools
- lot sizing
- human body
- pose estimation
- image guided
- motion planning
- robotic arm
- attack detection
- tissue deformation
- optimal policy
- contact force
- force feedback
- human arm
- joint angles
- optimal control
- surgical planning
- ct data
- soft tissue
- human motion