A Hand-held Non-Robotic Controller of a Manipulator with Cable Guide for Minimally Invasive Surgery.
Yonghyeok KimJeongryul KimYonghwan MoonKeri KimPublished in: UR (2021)
Keyphrases
- hand held
- minimally invasive surgery
- degrees of freedom
- robotic manipulator
- laparoscopic surgery
- surgical robot
- end effector
- robotic arm
- robotic systems
- tactile sensing
- contact force
- video camera
- motion planning
- intraoperative
- control system
- minimally invasive
- real time
- robot assisted
- control scheme
- vision system
- pose estimation
- pid controller
- robot arm
- control law
- soft tissue
- control method
- control strategy
- closed loop
- image processing
- master slave
- robot manipulators
- path planning
- inverse kinematics
- medical images
- digital images
- image registration
- image guided
- mobile robot
- control algorithm
- computer vision