Gripper's rotation of five DoF surgical robot by using coordinate transformation.
Takuya MatsunagaGuillaume FauRyohei KozukiKazuki TanidaKouhei OhnishiPublished in: ICM (2015)
Keyphrases
- coordinate transformation
- end effector
- surgical robot
- degrees of freedom
- robotic arm
- minimally invasive surgery
- robot arm
- vision system
- inverse kinematics
- robot manipulators
- visual servoing
- force feedback
- minimally invasive
- position and orientation
- motion planning
- pose estimation
- path planning
- robot assisted
- real time
- configuration space
- intraoperative