A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery.
Marco SalernoKetao ZhangArianna MenciassiJian S. DaiPublished in: IEEE Trans. Robotics (2016)
Keyphrases
- minimally invasive surgery
- degrees of freedom
- laparoscopic surgery
- motion planning
- motion tracking
- surgical navigation
- pose estimation
- end effector
- surgical robot
- path planning
- robotic arm
- robotic assisted
- surgical instruments
- surgical procedures
- tissue deformation
- joint angles
- configuration space
- robotic manipulator
- image processing
- computer vision