Sensor and sampling-based motion planning for minimally invasive robotic exploration of osteolytic lesions.
Wen P. LiuBlake C. LucasKelleher GuerinErion PlakuPublished in: IROS (2011)
Keyphrases
- motion planning
- minimally invasive
- robotic tasks
- radio frequency ablation
- mobile robot
- tactile sensing
- robotic arm
- autonomous mobile robot
- manipulation tasks
- robotic platform
- surgical robot
- degrees of freedom
- robot assisted
- minimally invasive surgery
- trajectory planning
- robot arm
- path planning
- augmented reality
- image guided
- intraoperative
- real time
- multi robot
- surgical procedures
- humanoid robot
- clinical applications
- contact force
- inverse kinematics
- temperature field
- image analysis
- computer aided
- control law
- imaging modalities
- configuration space
- robotic systems
- pre operative
- climbing robot