Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization.
Siddarth SenAnimesh GargDavid V. GealyStephen McKinleyYiming JenKen GoldbergPublished in: ICRA (2016)
Keyphrases
- convex optimization
- robot assisted
- minimally invasive surgery
- minimally invasive
- soft tissue
- force feedback
- image guided
- low rank
- primal dual
- interior point methods
- total variation
- degrees of freedom
- convex relaxation
- augmented reality
- norm minimization
- intraoperative
- surgical procedures
- operator splitting
- convex optimization problems
- semidefinite program
- image processing
- clinical applications
- image data
- multiscale
- three dimensional