Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery.
Ankur GuptaSaurabh SinghBerk GonencMarin KobilarovIulian IordachitaPublished in: IEEE SENSORS (2017)
Keyphrases
- surgical robot
- minimally invasive
- force feedback
- tactile sensing
- robot assisted
- contact force
- robotic manipulator
- minimally invasive surgery
- robotic arm
- surgical training
- iris recognition
- computer assisted
- position control
- image guided
- robotic systems
- mobile robot
- intraoperative
- master slave
- end effector
- virtual reality
- real time
- degrees of freedom
- coronary artery bypass
- laparoscopic surgery
- beating heart
- control scheme
- manipulation tasks
- image guided surgery
- human operators
- feature extraction
- robot arm
- augmented reality
- control system
- image segmentation