A Soft Inflatable Robot Driven by Hydraulic Folded Pouch Actuators for Minimally Invasive Surgery.
Jianlin YangMark RuncimanJames AveryZhijun SunGeorge P. MylonasPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- minimally invasive surgery
- degrees of freedom
- surgical robot
- end effector
- surgical instruments
- motion planning
- robotic arm
- configuration space
- tactile sensing
- path planning
- robotic systems
- laparoscopic surgery
- control system
- mobile robot
- soft tissue
- surgical navigation
- motion tracking
- robot arm
- intraoperative
- robotic assisted
- pose estimation
- tissue deformation
- vision system
- minimally invasive
- multi robot
- robot control
- position and orientation
- inverse kinematics
- human computer interaction
- x ray
- force feedback
- feature points
- image guided
- user interface