Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.
Taoming LiuMurat Cenk CavusogluPublished in: IEEE Trans Autom. Sci. Eng. (2016)
Keyphrases
- minimally invasive surgery
- surgical robot
- soft tissue
- minimally invasive
- robotic systems
- robot assisted
- degrees of freedom
- intraoperative
- image guided
- finite element
- medical images
- mobile robot
- real time
- robotic arm
- magnetic resonance
- augmented reality
- vision system
- multiple views
- x ray
- force feedback
- surgical procedures
- beating heart
- object recognition