A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery.
Xingchi HeMarcin BalickiPeter GehlbachJames HandaRussell H. TaylorIulian IordachitaPublished in: ICRA (2013)
Keyphrases
- force sensing
- force feedback
- cooperative
- robotic arm
- surgical robot
- robot assisted
- minimally invasive surgery
- degrees of freedom
- minimally invasive
- contact force
- end effector
- human operators
- virtual reality
- motion planning
- intraoperative
- computer assisted
- robot arm
- master slave
- visual feedback
- real time
- robotic systems
- image guided
- visual servoing
- computer graphics
- reinforcement learning