Improved estimation of torque between a surgical instrument and environment in multi-DOF motion
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DOI: 10.1007/s12206-018-0538-5
Abstract: Wires and pulleys drive instruments attached to a surgical robot. Driving torque of the surgical instrument is measured to estimate the interaction torque between the instrument tip and organ tissues. Friction occurring in the pulleys… read more here.
Keywords: motion; estimation; multi; torque surgical ... See more keywords