Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution.
Francesco CursiWeibang BaiEric M. YeatmanPetar KormushevPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- laparoscopic surgery
- minimally invasive surgery
- surgical robot
- surgical instruments
- robotic arm
- optimization problems
- surgical training
- hand eye
- master slave
- computer controlled
- real time
- control system
- mobile robot
- optimization process
- robotic systems
- global optimization
- constrained optimization
- robot assisted
- computer vision
- optimization algorithm
- parallel manipulator
- object manipulation
- path planning
- image guided surgery
- contact force
- robotic manipulator
- visual feedback
- finite element
- end effector
- inverse kinematics
- minimally invasive