A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery.
Caspar GruijthuijsenGianni BorghesanDominiek ReynaertsEmmanuel B. Vander PoortenPublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- position control
- minimally invasive surgery
- degrees of freedom
- robotic manipulator
- tactile sensing
- end effector
- surgical robot
- control scheme
- closed loop
- force control
- force feedback
- surgical navigation
- intraoperative
- laparoscopic surgery
- robotic systems
- virtual environment
- control system
- robot arm
- motion tracking
- control strategies
- robotic arm
- minimally invasive
- motion planning
- augmented reality
- surgical procedures
- surgical instruments
- robotic assisted
- image processing
- tissue deformation
- pid controller
- pose estimation
- soft tissue
- path planning
- virtual reality
- three dimensional
- image guided
- control law
- real time
- computer assisted
- computer aided
- medical images
- mobile robot
- computer vision