Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming.
S. M. Hadi SadatiYohan NohS. Elnaz NaghibiKaspar AlthoeferD. P. Thrishantha NanayakkaraPublished in: ICIRA (3) (2015)
Keyphrases
- robotic manipulator
- minimally invasive surgery
- degrees of freedom
- surgical robot
- position control
- end effector
- robotic assisted
- robotic systems
- control scheme
- visual servoing
- vision system
- intraoperative
- control system
- pose estimation
- robot arm
- robot manipulators
- inverse kinematics
- minimally invasive
- control method
- mobile robot
- real time
- motion planning