Snap-on robotic wrist module for enhanced dexterity in endoscopic surgery.
Joshua B. GaffordTommaso RanzaniSheila RussoHiroyuki AiharaChristopher ThompsonRobert J. WoodConor J. WalshPublished in: ICRA (2016)
Keyphrases
- surgical robot
- end effector
- minimally invasive surgery
- robot assisted
- degrees of freedom
- minimally invasive
- inverse kinematics
- robot arm
- vision system
- robot manipulators
- coronary artery bypass
- laparoscopic surgery
- intraoperative
- visual servoing
- force feedback
- manipulation tasks
- robotic manipulator
- surgical procedures
- image guided
- augmented reality
- robotic arm
- computer assisted
- joint angles
- soft tissue
- pose estimation
- control law
- robotic systems
- beating heart
- mobile robot
- motion planning
- surgical instruments