Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery.
Bo ZhangYo KobayashiYoshinari MaedaToshio ChibaMasakatsu G. FujiePublished in: ICRA (2011)
Keyphrases
- minimally invasive
- robotic manipulator
- robot assisted
- image guided
- intraoperative
- augmented reality
- beating heart
- minimally invasive surgery
- surgical procedures
- degrees of freedom
- clinical applications
- cardiac surgery
- control scheme
- surgical robot
- surgical simulation
- robotic systems
- robotic assisted
- end effector
- position control
- dynamic model
- visual servoing
- real time
- control system
- x ray
- deformable models
- medical imaging
- computer aided
- computer assisted
- pre operative
- multiple models
- ultrasound images