Gravity compensation of a 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications.
Ataol Behram AldanmazOrhan AyitGökhan KiperMehmet Ismet Can DedePublished in: Robotica (2023)
Keyphrases
- minimally invasive
- robotic assisted
- beating heart
- robot assisted
- tissue deformation
- image guided
- augmented reality
- intraoperative
- surgical procedures
- virtual endoscopy
- surgical simulation
- clinical applications
- minimally invasive surgery
- radio frequency ablation
- cardiac surgery
- image sequences
- tactile sensing
- pre operative
- motion estimation
- cardiac motion
- surgical robot
- optical flow
- motion planning
- camera motion
- motion tracking
- motion capture
- position and orientation