Force feedback enhancement for soft tissue interaction tasks in cooperative robotic surgery.
Elisa BerettaFederico NessiGiancarlo FerrignoElena De MomiPublished in: IROS (2015)
Keyphrases
- haptic feedback
- soft tissue deformation
- force feedback
- soft tissue
- human operators
- needle insertion
- robotic arm
- robot assisted
- visual feedback
- virtual environment
- virtual reality
- real time
- haptic device
- robotic systems
- finite element
- end effector
- medical images
- human interaction
- degrees of freedom
- minimally invasive surgery
- virtual space
- robot arm
- mobile robot
- image processing
- real robot
- autonomous robots
- magnetic resonance
- image registration
- haptic interaction
- human computer interaction