Optimal needle grasp selection for automatic execution of suturing tasks in robotic minimally invasive surgery.
Taoming LiuMurat Cenk CavusogluPublished in: ICRA (2015)
Keyphrases
- minimally invasive surgery
- surgical robot
- soft tissue
- minimally invasive
- robotic systems
- degrees of freedom
- robot assisted
- intraoperative
- finite element
- medical images
- surgical procedures
- tissue deformation
- magnetic resonance
- real time
- computer assisted
- human operators
- deformable models
- real robot
- image guided
- pose estimation
- image segmentation