Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery.
Mario SelvaggioAmir M. Ghalamzan E.Rocco MocciaFanny FicucielloBruno SicilianoPublished in: IROS (2019)
Keyphrases
- minimally invasive
- radio frequency ablation
- surgical simulation
- tactile sensing
- robot assisted
- force feedback
- surgical robot
- robotic platform
- augmented reality
- image guided
- robotic arm
- intraoperative
- clinical applications
- surgical procedures
- robotic assisted
- control system
- cardiac surgery
- minimally invasive surgery
- beating heart
- robotic systems
- human operators
- robotic manipulator
- haptic feedback
- real time
- contact force
- degrees of freedom
- soft tissue
- tissue deformation
- computer assisted
- virtual reality
- medical images