Progress toward robotic surgery of the lateral skull base: Integration of a dexterous continuum manipulator and flexible ring curette.
Anzhu GaoJohn P. CareyRyan J. MurphyIulian IordachitaRussell H. TaylorMehran ArmandPublished in: ICRA (2016)
Keyphrases
- object manipulation
- laparoscopic surgery
- manipulation tasks
- robotic systems
- robotic arm
- haptic feedback
- robotic manipulator
- mobile robot
- modular design
- hand eye
- computer assisted
- outer sheath
- end effector
- minimally invasive surgery
- surgical training
- inverse kinematics
- force feedback
- intraoperative
- vision system
- control system
- contact force
- surgical robot
- unstructured environments
- virtual reality
- robot control
- motion planning
- human operators
- finite element analysis