A Kinematic Modeling and Control Scheme for Different Robotic Endoscopes: A Rudimentary Research Prototype
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3186758
Abstract: In image-guided robotic surgery, there exist different endoscopes coupled either with specialized surgical robots (SSRs) or general industrial robots (GIRs). In general, SSRs mechanically respect the remote-center-of-motion (RCM) constraints with directly and explicitly controllable degrees-of-freedom… read more here.
Keywords: robotic endoscopes; kinematics; control scheme; control ... See more keywords