Versatile end effector for laparoscopic robotic scrub nurse.
Lars WagnerSven KolbChristian LooschenLukas BernhardJonas FuchtmannMaximilian BerletJohannes FottnerAlois KnollDirk WilhelmPublished in: Int. J. Comput. Assist. Radiol. Surg. (2023)
Keyphrases
- surgical robot
- end effector
- degrees of freedom
- robot assisted
- minimally invasive surgery
- vision system
- minimally invasive
- inverse kinematics
- robot arm
- robot manipulators
- robotic manipulator
- robotic arm
- manipulation tasks
- visual servoing
- force feedback
- hand eye calibration
- control law
- motion planning
- configuration space
- position and orientation
- path planning
- pose estimation
- intraoperative
- computer assisted
- image guided
- control scheme
- surgical procedures
- experimental data
- position control
- x ray