Development of Forceps Manipulator Using Pneumatic Soft Actuator for a Bending Joint of Forceps Tip.
Rei HisatomiTakahiro KannoTetsuro MiyazakiToshihiro KawaseKenji KawashimaPublished in: SII (2019)
Keyphrases
- laparoscopic surgery
- degrees of freedom
- control system
- robot assisted
- master slave
- visual feedback
- software engineering
- minimally invasive surgery
- path planning
- control method
- force control
- robotic arm
- knowledge based systems
- motion planning
- computer controlled
- closed loop
- development process
- operating room
- vision system
- case study