Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery.
Jumpei ArataYosuke FujisawaRyu NakadateKazuo KiguchiKanako HaradaMamoru MitsuishiMakoto HashizumePublished in: ICRA (2019)
Keyphrases
- minimally invasive surgery
- laparoscopic surgery
- degrees of freedom
- surgical navigation
- intraoperative
- minimally invasive
- soft tissue
- surgical robot
- deformable models
- pose estimation
- surgical instruments
- path planning
- motion planning
- robotic assisted
- master slave
- visual feedback
- image guided
- end effector
- motion tracking
- robotic arm
- surgical procedures
- tissue deformation
- computer vision
- clinical applications