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Dynamic modeling and trajectory tracking control for a 3-DOF instrument in minimally invasive surgery.

Hongqiang SangChao HeJianmin LiLin'an Zhang
Published in: ROBIO (2009)
Keyphrases
  • minimally invasive surgery
  • degrees of freedom
  • surgical instruments
  • surgical robot
  • intraoperative
  • dynamic environments
  • laparoscopic surgery
  • pose estimation
  • soft tissue