Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion
Introduction: Laparoscopic surgery often relies on a fixed Remote Center of Motion (RCM) for robot mobility control, which assumes that the patient’s abdominal walls are immobile. However, this assumption is inaccurate, especially in collaborative surgical environments. In this paper, we present a f...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2023-04-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1145265/full |