Active wrists endoscope navigation in robotized laparoscopic surgery

This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts through the patient abdomen. Therefore, this article studies these efforts, which have been measured by a force sensor located between...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Bauzano, E., Munoz, V.F., Garcia-Morales, I., Estebanez, B.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Abdomen Endoscopes Force measurement Force sensors Gravity Minimally invasive surgery Motion control Navigation Robot sensing systems Wrist
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