Locomotion Selection and Mechanical Design for a Mobile Intra-abdominal Adhesion-Reliant Robot for Minimally Invasive Surgery.
Alfonso Montellano LópezMojtaba KhazraviRobert C. RichardsonAbbas DehghaniRupesh RoshanTomasz LiskiewiczArdian MorinaDavid G. JayneAnne NevillePublished in: TAROS (2011)
Keyphrases
- mechanical design
- minimally invasive surgery
- surgical instruments
- degrees of freedom
- robotic systems
- surgical procedures
- mobile robot
- surgical robot
- intraoperative
- laparoscopic surgery
- motion planning
- end effector
- minimally invasive
- real time
- conceptual design
- robot control
- tactile sensing
- soft tissue
- robotic assisted
- rough terrain
- legged robots
- path planning
- robot assisted
- computer assisted
- dynamic environments
- robot manipulators
- image guided