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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Veröffentlicht in:	Sensors (Basel, Switzerland) Jg. 23; H. 6; S. 3328
Hauptverfasser:	Colan, Jacinto, Davila, Ana, Fozilov, Khusniddin, Hasegawa, Yasuhisa
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Switzerland MDPI AG 22.03.2023 MDPI
Schlagworte:	Biomechanical Phenomena constrained motion planning hierarchical quadratic programming Humans inverse kinematics Kinematics Laparoscopy Methods Minimally invasive surgery Minimally Invasive Surgical Procedures - methods Motion Motion control nonlinear optimization Optimization techniques Robotic surgery Robotic Surgical Procedures - methods Robotics Robots Surgery Surgical apparatus & instruments surgical robot minimally invasive surgery surgical robot concurrent solving constrained motion planning hierarchical quadratic programming inverse kinematics nonlinear optimization
ISSN:	1424-8220, 1424-8220
Online-Zugang:	Volltext
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