4-DoF spherical parallel wrist with embedded grasping capability for minimally invasive surgery.
Wissem HaouasRedwan DahmoucheNadine Le Fort-PiatGuillaume J. LaurentPublished in: IROS (2016)
Keyphrases
- minimally invasive surgery
- degrees of freedom
- end effector
- human hand
- intraoperative
- surgical navigation
- surgical robot
- laparoscopic surgery
- vision system
- soft tissue
- minimally invasive
- tissue deformation
- motion planning
- robotic assisted
- joint angles
- surgical procedures
- pose estimation
- three dimensional
- robotic arm
- surgical instruments
- motion tracking