Development of a cost-effective actuation unit for three DOF concentric tube robot in minimally invasive surgery.
Shunmugasundar EsakkiappanBijan ShirinzadehWeichen WeiPublished in: AIM (2019)
Keyphrases
- cost effective
- minimally invasive surgery
- degrees of freedom
- end effector
- surgical robot
- low cost
- environmentally friendly
- path planning
- motion planning
- cost effectiveness
- robotic systems
- robotic arm
- tactile sensing
- surgical instruments
- configuration space
- robotic manipulator
- robot arm
- pose estimation
- mobile robot
- minimally invasive
- laparoscopic surgery
- position control
- surgical navigation
- soft tissue
- robotic assisted
- vision system
- image analysis
- inverse kinematics
- real time
- intraoperative
- object recognition