Planning and control of a teleoperation system for research in minimally invasive robotic surgery.
Andreas TobergteRainer KonietschkeGerd HirzingerPublished in: ICRA (2009)
Keyphrases
- minimally invasive
- robot assisted
- radio frequency ablation
- robotic arm
- augmented reality
- force feedback
- surgical robot
- robotic manipulator
- tactile sensing
- intraoperative
- robotic platform
- motion planning
- image guided
- virtual endoscopy
- human operators
- surgical procedures
- robotic assisted
- robotic systems
- surgical simulation
- minimally invasive surgery
- clinical applications
- degrees of freedom
- master slave
- beating heart
- cardiac surgery
- control system
- end effector
- robot control
- mobile robot
- real time
- visual servoing
- tissue deformation
- prostate cancer
- virtual reality
- x ray
- pre operative
- robot arm
- medical image analysis
- medical images
- image registration