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Kinematic Design Optimization of an Actuated Carrier for the DLR Multi-Arm Surgical System.

Rainer KonietschkeTobias OrtmaierUlrich HagnGerd HirzingerSilvia Frumento
Published in: IROS (2006)
Keyphrases
  • joint space
  • description logics
  • degrees of freedom
  • real time
  • decision support system
  • image guided
  • augmented reality
  • intraoperative
  • inverse kinematics
  • force control
  • computer assisted surgery