Modular design of a teleoperated robotic control system for laparoscopic minimally invasive surgery based on ROS and RT-Middleware.
Weibang BaiQixin CaoPengfei WangPeng ChenChuntao LengTiewen PanPublished in: Ind. Robot (2017)
Keyphrases
- minimally invasive surgery
- modular design
- surgical robot
- control system
- degrees of freedom
- laparoscopic surgery
- intraoperative
- surgical navigation
- minimally invasive
- robotic systems
- soft tissue
- control algorithm
- surgical instruments
- closed loop
- pid controller
- image guided
- tactile sensing
- control strategy
- tissue deformation
- computer assisted
- real time
- control law
- robotic assisted
- surgical procedures
- image sequences
- x ray
- robotic arm
- finite element
- motion planning