Reduced errors in robot-aided minimally invasive surgery through online condition number optimization.
Murilo M. MarinhoKanako HaradaNaohiko SugitaMamoru MitsuishiPublished in: BioRob (2016)
Keyphrases
- minimally invasive surgery
- condition number
- tactile sensing
- surgical robot
- surgical instruments
- mobile robot
- intraoperative
- degrees of freedom
- minimally invasive
- interior point methods
- condition numbers
- robotic systems
- vision system
- regression model
- linear program
- least squares
- linear algebra
- robot manipulators
- pattern recognition