Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing.
Alexandre KrupaJacques GangloffChristophe DoignonMichel de MathelinGuillaume MorelJoël LeroyLuc SolerJacques MarescauxPublished in: IEEE Trans. Robotics Autom. (2003)
Keyphrases
- surgical instruments
- laparoscopic surgery
- visual servoing
- visual feedback
- vision system
- mobile robot
- robotic systems
- control law
- camera motion
- robotic arm
- image space
- robot control
- end effector
- force feedback
- control system
- robot assisted
- minimally invasive surgery
- path planning
- real time
- master slave
- autonomous robots
- dynamic environments