Configurability Selection of Robotic Arm with Constrained Task and Environment in Laparoscopic Hysterectomy for Uterus Manipulation

Author:

Chen Wei1,Wu Jiahao1,Zhou Jianshu1,Wang Hesheng2,Wang Yudong3,Cheung Tak Hong4,Liu Yun-Hui1

Affiliation:

1. The Chinese University of Hong Kong,T Stone Robotics Institute,the Department of Mechanical and Automation Engineering,HKSAR,China

2. Shanghai Jiao Tong University, Shanghai, China and Key Laboratory of System Control and Information Processing, Ministry of Education of China,Department of Automation

3. International Peace Maternity and Child Health Hospital, Shanghai Jiaotong University School of Medicine,Department of Obstetrics and Gynecology,Shanghai,China

4. Prince of Wales Hospital, The Chinese University of Hong Kong,Department of Obstetrics and Gynaecology,Hong Kong,China

Funder

Science and Technology Commission of Shanghai Municipality

Publisher

IEEE

Reference42 articles.

1. A Monte-Carlo algorithm for path planning with many degrees of freedom

2. Planning Jerk-Optimized Trajectory With Discrete Time Constraints for Redundant Robots

3. Robotics: modelling, planning and control;bruno;Advanced Textbooks in Control and Signal Processing Series Spring Printed,2009

4. Task constrained motion planning for 7-degree of freedom manipulators with parameterized submanifolds

5. Optimal base placement of the da vinci system based on the manipulability index;papanikolaidi;International Conference on Intelligent Robots and Systems,2013

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