Constrained workspace generation for snake-like manipulators with applications to minimally invasive surgery.
Ryan J. MurphyMatthew MosesMichael Dennis Mays KutzerGregory S. ChirikjianMehran ArmandPublished in: ICRA (2013)
Keyphrases
- minimally invasive surgery
- degrees of freedom
- laparoscopic surgery
- intraoperative
- surgical navigation
- surgical robot
- robotic systems
- active contours
- motion planning
- soft tissue
- minimally invasive
- master slave
- robotic assisted
- b spline
- motion tracking
- surgical procedures
- path planning
- tissue deformation
- surgical instruments
- image guided
- pose estimation
- computer vision