Generalized Framework for Control of Redundant Manipulators in Robot-Assisted Minimally Invasive Surgery

ConclusionsThe results showed the capacity of the proposed framework to simultaneously comply the three tasks: the tool-tip trajectory, the RCM constraint and joint compliance in case of collisions in the robot's body, always respecting the priority order between the tasks.Graphical abstract
Source: IRBM - Category: Biomedical Engineering Source Type: research