A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery.
Yong-Jae KimShanbao ChengSangbae KimKarl IagnemmaPublished in: IEEE Trans. Robotics (2014)
Keyphrases
- minimally invasive surgery
- laparoscopic surgery
- degrees of freedom
- intraoperative
- surgical navigation
- soft tissue
- robotic assisted
- surgical instruments
- minimally invasive
- surgical robot
- motion planning
- tissue deformation
- pose estimation
- end effector
- master slave
- visual feedback
- robotic arm
- surgical procedures
- inverse kinematics
- real time
- path planning
- virtual reality
- vision system
- image sequences
- computer vision