Development of the dexterous manipulator and the force sensor for Minimally Invasive Surgery.

Ho-Seok Song Ki-Young Kim Jung-Ju Lee

Published in: ICARA (2009)

Keyphrases

minimally invasive surgery
degrees of freedom
laparoscopic surgery
contact force
tactile sensing
surgical robot
end effector
intraoperative
minimally invasive
soft tissue
real time
master slave
multi sensor
tissue deformation
vision system
surgical navigation
image analysis