Cooperative robotic assistant with drill-by-wire end-effector for spinal fusion surgery.
Jongwon LeeInwook HwangKeehoon KimSeungmoon ChoiWan Kyun ChungYoung Soo KimPublished in: Ind. Robot (2009)
Keyphrases
- surgical robot
- end effector
- force feedback
- degrees of freedom
- minimally invasive
- robot assisted
- minimally invasive surgery
- robotic arm
- manipulation tasks
- robotic manipulator
- robot arm
- vision system
- robot manipulators
- inverse kinematics
- visual servoing
- data fusion
- motion planning
- intraoperative
- position control
- control law
- hand eye calibration
- contact force
- image guided
- real time
- augmented reality
- surgical procedures
- robotic systems
- control scheme
- configuration space
- mobile robot