Precision instrument placement using a 4-DOF robot with integrated fiducials for minimally invasive interventions.
Roland StenzelRalph LinPeng ChengGernot KronreifMartin KornfeldDavid LindischBradford J. WoodAnand ViswanathanKevin ClearyPublished in: Medical Imaging: Image-Guided Procedures (2007)
Keyphrases
- minimally invasive
- surgical robot
- end effector
- robot assisted
- tactile sensing
- minimally invasive surgery
- degrees of freedom
- robotic platform
- vision system
- mobile robot
- robot manipulators
- virtual endoscopy
- robot arm
- augmented reality
- inverse kinematics
- clinical applications
- intraoperative
- image guided
- visual servoing
- path planning
- robotic manipulator
- motion planning
- robotic arm
- surgical procedures
- beating heart
- pre operative
- force feedback
- multi robot
- position and orientation
- cardiac surgery
- radio frequency ablation
- control law
- robotic systems
- image data