Autonomous Retrieval and Positioning of Surgical Instruments in Robotized Laparoscopic Surgery using Visual Servoing and Laser Pointers.
Alexandre KrupaJacques GangloffMichel de MathelinChristophe DoignonGuillaume MorelLuc SolerJoël LeroyJacques MarescauxPublished in: ICRA (2002)
Keyphrases
- surgical instruments
- laparoscopic surgery
- visual feedback
- visual servoing
- vision system
- mobile robot
- robot control
- control law
- robotic arm
- image space
- robotic systems
- end effector
- camera motion
- real time
- master slave
- minimally invasive surgery
- force feedback
- robot assisted
- control system
- model free
- dynamic environments