A Hybrid Steerable Robot with Magnetic Wrist for Minimally Invasive Epilepsy Surgery.
Changyan HeRobert H. NguyenCameron ForbriggerJames M. DrakeThomas LooiEric D. DillerPublished in: ICRA (2023)
Keyphrases
- control system
- minimally invasive
- position control
- robot assisted
- tactile sensing
- surgical robot
- control scheme
- robotic platform
- end effector
- image guided
- virtual endoscopy
- intraoperative
- augmented reality
- robotic manipulator
- surgical procedures
- beating heart
- surgical simulation
- minimally invasive surgery
- robotic assisted
- radio frequency ablation
- robot manipulators
- cardiac surgery
- clinical applications
- force feedback
- laparoscopic surgery
- robot arm
- pre operative
- inverse kinematics
- tissue deformation
- robotic systems
- degrees of freedom
- x ray
- vision system
- mobile robot
- visual servoing
- imaging modalities
- eeg signals
- position and orientation
- computer assisted
- path planning
- image processing