Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot.
Yusuke KasaharaKazuya KitamuraKouhei OhnishiYasuhide MorikawaNaoki ShimojimaPublished in: AMC (2010)
Keyphrases
- laparoscopic surgery
- force feedback
- robot assisted
- visual feedback
- end effector
- path planning
- detection algorithm
- virtual reality
- mobile robot
- robotic arm
- automatic detection
- vision system
- surgical instruments
- false positives
- detection method
- virtual environment
- robot manipulators
- haptic device
- human robot interaction
- autonomous robots
- robotic systems
- degrees of freedom
- minimally invasive surgery
- multi robot
- operating room
- parallel robot
- object detection
- tactile sensing
- automated detection
- visual servoing
- real time
- motion planning