Link length optimisation of a medical robot in minimally invasive surgery.
Rainer KonietschkeTobias OrtmaierHolger WeissRobert EngelkeGerd HirzingerPublished in: CARS (2003)
Keyphrases
- minimally invasive surgery
- surgical robot
- surgical instruments
- degrees of freedom
- tactile sensing
- robotic systems
- mobile robot
- intraoperative
- end effector
- robot assisted
- laparoscopic surgery
- image guided
- surgical navigation
- minimally invasive
- path planning
- soft tissue
- robotic assisted
- vision system
- autonomous robots
- robotic arm
- medical imaging
- surgical procedures
- multi robot
- motion planning
- tissue deformation
- robot control
- humanoid robot
- motion tracking
- real time
- configuration space
- d objects
- image sequences
- object recognition
- image segmentation
- formation control
- x ray
- deformable models
- computer assisted
- inverse kinematics
- medical data