A Spherical Joint Robotic End-Effector for the Expanded Endoscopic Endonasal Approach.
Emmanouil DimitrakakisGeorge DwyerLukas LindenrothPetros GiataganasNeil L. DorwardHani J. MarcusDanail StoyanovPublished in: J. Medical Robotics Res. (2021)
Keyphrases
- end effector
- surgical robot
- degrees of freedom
- position control
- minimally invasive surgery
- manipulation tasks
- robotic manipulator
- robotic arm
- inverse kinematics
- minimally invasive
- robot arm
- human arm
- vision system
- joint space
- robot assisted
- joint angles
- robot manipulators
- visual servoing
- motion planning
- control law
- hand eye calibration
- force feedback
- three dimensional
- closed loop
- pose estimation
- force control
- intraoperative
- human body
- robotic systems
- genetic algorithm
- moving objects
- control system
- human computer interaction
- real time