Toward a Variable Stiffness Surgical Manipulator Based on Fiber Jamming Transition.
Margherita BrancadoroMariangela MantiFabrizio GraniSelene TognarelliArianna MenciassiMatteo CianchettiPublished in: Frontiers Robotics AI (2019)
Keyphrases
- laparoscopic surgery
- robot assisted
- degrees of freedom
- minimally invasive surgery
- computer controlled
- operating room
- intraoperative
- inverse kinematics
- robot manipulators
- image guided
- contact force
- fiber optic
- computer vision
- visual feedback
- parallel manipulator
- surgical instruments
- surgical training
- master slave
- minimally invasive
- vision system
- bayesian networks
- end effector
- diffusion tensor imaging
- pre operative
- control method
- path planning
- pose estimation
- transition model
- medical images
- real time