A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related...

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Bibliographic Details
Main Authors: Jacinto Colan, Ana Davila, Khusniddin Fozilov, Yasuhisa Hasegawa
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Sensors
Subjects:
surgical robot
inverse kinematics
constrained motion planning
minimally invasive surgery
nonlinear optimization
hierarchical quadratic programming
Online Access:https://www.mdpi.com/1424-8220/23/6/3328

Internet

https://www.mdpi.com/1424-8220/23/6/3328

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