Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice
In the context of keyhole surgery, and more particularly of uterine biopsy, the fine automatic movements of a surgical instrument held by a robot with 3 active DOF’s require an exact knowledge of the point of rotation of the instrument. However, this center of rotation is not fixed and moves during...
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Autores principales: | Rémi Chalard , Afshin Fazel, Marie-Aude Vitrani |
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Formato: | article |
Lenguaje: | EN |
Publicado: |
Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://doaj.org/article/6ecb7d5b24404cfdabd05704d62a3678 |
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