Least-Incision Transformable End-Effector Mechanism for Forceps for Endoscopic Surgery.
Hiroaki NakajiRyoichi NakamuraPublished in: MIAR (2010)
Keyphrases
- laparoscopic surgery
- surgical robot
- minimally invasive surgery
- robot assisted
- end effector
- degrees of freedom
- minimally invasive
- force feedback
- intraoperative
- coronary artery bypass
- inverse kinematics
- robot manipulators
- robotic arm
- surgical procedures
- soft tissue
- robot arm
- hand eye calibration
- vision system
- master slave
- visual servoing
- clinical applications
- image guided
- motion planning
- computer assisted
- pose estimation
- pre operative
- control law
- control system