Increasing accuracy in image-guided robotic surgery through tip tracking and model-based flexion correction
Robot assistance can enhance minimally invasive image-guided surgery, but flexion of the thin surgical instrument shaft impairs accurate control by creating errors in the kinematic model. Two controller enhancements that can mitigate these errors are improved kinematic models that account for flexin...
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| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers,
2010-03-05T19:04:43Z.
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| Subjects: | |
| Online Access: | Get fulltext |