Task control with remote center of motion constraint for minimally invasive robotic surgery.
Nastaran AghakhaniMilad GeravandNavid ShahriariMarilena VendittelliGiuseppe OrioloPublished in: ICRA (2013)
Keyphrases
- minimally invasive
- radio frequency ablation
- robotic assisted
- beating heart
- tactile sensing
- robot assisted
- surgical robot
- image guided
- intraoperative
- augmented reality
- tissue deformation
- robotic platform
- surgical procedures
- minimally invasive surgery
- robotic systems
- clinical applications
- robotic arm
- surgical simulation
- end effector
- control system
- motion planning
- motion estimation
- real time
- image sequences
- optical flow
- degrees of freedom
- cardiac surgery
- mobile robot
- motion tracking
- computer assisted
- image processing
- image analysis
- vision system
- camera motion
- force feedback
- inverse kinematics
- pre operative
- motion compensation