Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes.
Ali Hassan ZahraeeJérôme SzewczykJamie Kyujin PaikGuillaume MorelPublished in: MICCAI (3) (2010)
Keyphrases
- end effector
- surgical robot
- hand held
- degrees of freedom
- inverse kinematics
- force feedback
- robot arm
- robotic manipulator
- vision system
- minimally invasive surgery
- robot manipulators
- robot assisted
- robotic arm
- video camera
- visual servoing
- minimally invasive
- motion planning
- hand eye calibration
- real time
- control law
- position and orientation
- image space
- low cost
- object detection
- mobile robot