Control movement scheme based on manipulability concept for a surgical robotic assistant

This paper proposes a Cartesian control scheme applied to a robotic assistant for laparoscopic surgery. This system's main characteristic is that it emulates the movements of a human assistant, guiding the laparoscopic camera with precision to focus on the area in question inside the patient. F...

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Bibliographische Detailangaben

Hauptverfasser:	Munoz, V.F., Garcia-Morales, I., Perez del Pulgar, C., Gomez-DeGabriel, J.M., Fernandez-Lozano, J., Garcia-Cerezo, A., Vara-Thorbeck, C., Toscano, R.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Cameras Instruments Laparoscopes Medical robotics Minimally invasive surgery Robot kinematics Robot vision systems Surges Wrist
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