A Miniature Manipulator With Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery.
Changsheng LiYusheng YanXiao XiaoXiaoyi GuHuxin GaoXingguang DuanXiuli ZuoYanqing LiHongliang RenPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- minimally invasive
- laparoscopic surgery
- robot assisted
- minimally invasive surgery
- image guided
- coronary artery bypass
- intraoperative
- augmented reality
- virtual endoscopy
- beating heart
- surgical simulation
- clinical applications
- surgical procedures
- surgical robot
- radio frequency ablation
- robotic assisted
- cardiac surgery
- degrees of freedom
- tactile sensing
- pre operative
- tissue deformation
- finite element model
- path planning
- contact force
- robot manipulators
- human computer interaction