A new robot for force control in minimally invasive surgery.
Nabil ZemitiTobias OrtmaierGuillaume MorelPublished in: IROS (2004)
Keyphrases
- force control
- minimally invasive surgery
- robot manipulators
- robotic cell
- intraoperative
- closed loop
- control strategy
- degrees of freedom
- surgical robot
- minimally invasive
- soft tissue
- surgical instruments
- control law
- control architecture
- robotic systems
- inverse kinematics
- position control
- control system
- computer vision
- motion planning
- dynamic model
- mathematical model
- medical images