Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 1, 2004, Pages 829-834

  Lum, Mitchell J H ^a   Rosen, Jacob ^a   Sinanan, Mika N ^a   Hannaford, Blake ^a  

^a UNIVERSITY OF WASHINGTON   (United States)

Author keywords

Isotropy; Jacobian; Minimally Invasive Surgery; Optimization; Serial Mechanism; Specical Mechanism; Surgical Robot

Indexed keywords

COMPUTER VISION; DATABASE SYSTEMS; INVERSE KINEMATICS; MATRIX ALGEBRA; SURGICAL EQUIPMENT; TORQUE;

ISOTROPY; JACOBIAN; MINIMALLY INVASIVE SURGERY; SERIAL MECHANISM; SPECIAL MECHANISM; SURGICAL ROBOT;

ROBOTICS;

EID: 3042577576     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307252     Document Type: Conference Paper

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