Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery.
Toshikazu KawaiHiroyuki HayashiYuji NishizawaAtsushi NishikawaRyoichi NakamuraHiroshi KawahiraMasaaki ItoTatsuo NakamuraPublished in: Int. J. Comput. Assist. Radiol. Surg. (2017)
Keyphrases
- laparoscopic surgery
- minimally invasive surgery
- surgical instruments
- robot assisted
- minimally invasive
- coronary artery bypass
- master slave
- degrees of freedom
- surgical robot
- intraoperative
- high speed
- visual feedback
- soft tissue
- operating room
- image guided
- linear model
- hough transform
- robotic arm
- augmented reality
- video endoscopy
- x ray