6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument.
Nural YilmazMerve BazmanAlaa AlassiBerke GurUgur TümerdemPublished in: IROS (2019)
Keyphrases
- contact force
- surgical robot
- inverse dynamics
- surgical instruments
- master slave
- minimally invasive surgery
- finite element analysis
- real time
- sensor networks
- estimation accuracy
- minimally invasive
- robot assisted
- control algorithm
- dynamic model
- mobile robot
- accurate estimation
- virtual reality
- surgical training
- finite element model
- cross section
- position and orientation
- estimation error