Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies.
Kyouhei TakikawaRyoken MiyazakiTakahiro KannoGen EndoKenji KawashimaPublished in: J. Robotics Mechatronics (2016)
Keyphrases
- laparoscopic surgery
- degrees of freedom
- minimally invasive surgery
- robot assisted
- robotic arm
- master slave
- surgical instruments
- operating room
- visual feedback
- pose estimation
- joint angles
- motion planning
- end effector
- path planning
- robotic manipulator
- robotic systems
- data driven
- selection mechanism
- minimally invasive
- image guided
- intraoperative
- surgical tools
- computer vision
- robot manipulators
- human hand
- parallel manipulator