Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors.
Kazuki TanidaTakahiro MizoguchiFumiya MitomeKouhei OhnishiPublished in: AMC (2012)
Keyphrases
- laparoscopic surgery
- piecewise linear
- permanent magnet
- visual feedback
- mobile robot
- cooperative
- linear model
- virtual reality
- semi infinite programming
- tactile sensing
- haptic device
- direct drive
- linear functions
- motion planning
- virtual environment
- autonomous robots
- magnetic field
- parallel robot
- intraoperative
- robotic systems
- degrees of freedom
- pose estimation