All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications.
Rainer KonietschkeGerd HirzingerY. YanPublished in: ARK (2006)
Keyphrases
- minimally invasive
- tactile sensing
- robot assisted
- robotic platform
- surgical robot
- minimally invasive surgery
- image guided
- virtual endoscopy
- path planning
- end effector
- augmented reality
- degrees of freedom
- intraoperative
- medical imaging
- mobile robot
- clinical applications
- radio frequency ablation
- cardiac surgery
- force feedback
- medical diagnosis
- robotic manipulator
- vision system
- robotic arm
- robot manipulators
- autonomous robots
- pose estimation
- surgical procedures
- robotic systems
- robot arm
- motion planning
- medical data
- inverse kinematics
- image registration
- multi robot
- expert systems
- beating heart
- position control
- image analysis
- image segmentation
- virtual reality
- medical knowledge
- real robot
- human operators
- position and orientation