Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces.
Jacob Hernandez SanchezWalid AmanhoudAude BillardMohamed BouriPublished in: Int. J. Robotics Res. (2023)
Keyphrases
- laparoscopic surgery
- robotic arm
- master slave
- visual feedback
- tactile sensing
- robot assisted
- force feedback
- contact force
- visual servoing
- minimally invasive surgery
- minimally invasive
- real time
- haptic interaction
- robotic systems
- degrees of freedom
- surgical instruments
- mobile robot
- vision system
- user interface
- magneto optic
- end effector
- virtual humans
- motion planning
- virtual environment
- control law
- intraoperative
- robot control
- operating room
- soft tissue
- pose estimation
- image processing