Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery.
Hao LiuAmirhossein FarvardinSahba Aghajani PedramIulian IordachitaRussell H. TaylorMehran ArmandPublished in: ICRA (2015)
Keyphrases
- minimally invasive surgery
- laparoscopic surgery
- degrees of freedom
- intraoperative
- surgical navigation
- soft tissue
- minimally invasive
- pose estimation
- motion planning
- tissue deformation
- surgical procedures
- shape analysis
- robotic arm
- shape model
- surgical instruments
- real time
- end effector
- x ray
- robotic assisted
- image guided
- robot assisted
- master slave
- path planning
- virtual reality
- control system