Mobile locally operated detachable end-effector manipulator for endoscopic surgery.
Toshikazu KawaiMyongyu ShinYuji NishizawaYuki HoriseAtsushi NishikawaTatsuo NakamuraPublished in: Int. J. Comput. Assist. Radiol. Surg. (2015)
Keyphrases
- end effector
- surgical robot
- degrees of freedom
- force feedback
- inverse kinematics
- minimally invasive surgery
- vision system
- robot arm
- robot manipulators
- robot assisted
- minimally invasive
- coronary artery bypass
- laparoscopic surgery
- visual servoing
- hand eye calibration
- robotic manipulator
- position and orientation
- robotic arm
- motion planning
- control law
- computer assisted
- human arm
- pose estimation
- parallel manipulator
- real time
- three dimensional
- augmented reality
- visual feedback
- image guided
- configuration space