3-DOF force-sensing micro-forceps for robot-assisted membrane peeling: Intrinsic actuation force modeling.
Anzhu GaoBerk GonencJiangzhen GuoHao LiuPeter GehlbachIulian IordachitaPublished in: BioRob (2016)
Keyphrases
- force feedback
- robot assisted
- force sensing
- laparoscopic surgery
- end effector
- degrees of freedom
- robotic arm
- virtual reality
- visual feedback
- robot arm
- vision system
- motion planning
- inverse kinematics
- pose estimation
- virtual space
- master slave
- robot manipulators
- joint angles
- configuration space
- visual servoing
- dynamic model
- virtual environment