IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Hybrid Active/Passive Wrist Approach for Increasing Virtual Fixture Stiffness in Comanipulated Robotic Minimally Invasive Surgery

Author(s): Caspar Gruijthuijsen ; Gianni Borghesan ; Dominiek Reynaerts ; Emmanuel Vander Poorten
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 3,029 - 3,036
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2923950
Regular:

In minimally invasive surgery (MIS), the incision point acts as a fulcrum about which the surgical instrument pivots. Most robotic MIS systems foresee procedures to carefully align the robot with... View More

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