A Miniature 3-DoF Flexible Parallel Robotic Wrist Using NiTi Wires for Gastrointestinal Endoscopic Surgery.
Huxin GaoXiao XiaoXiaoxiao YangTao ZhangXiuli ZuoYanqing LiHongliang RenPublished in: CoRR (2022)
Keyphrases
- surgical robot
- end effector
- degrees of freedom
- minimally invasive surgery
- minimally invasive
- vision system
- inverse kinematics
- robotic manipulator
- robotic arm
- robot arm
- position control
- robot manipulators
- visual servoing
- force feedback
- surgical procedures
- robot assisted
- laparoscopic surgery
- coronary artery bypass
- magneto optic
- motion planning
- manipulation tasks
- master slave
- parallel processing
- real time
- shared memory
- control law
- image guided
- surgical instruments
- power supply
- parallel implementation
- imaging modalities
- computer assisted
- pose estimation
- image analysis
- joint angles
- outer sheath