Constrained Motion Planning for a Robotic Endoscope Holder Based on Hierarchical Quadratic Programming
Author:
Affiliation:
1. Nagoya University,Department of Micro-Nano Mechanical Science and Engineering,Nagoya,Japan
2. Institutes of Innovation for Future Society, Nagoya University,Nagoya,Japan
Funder
Japan Science and Technology Agency (JST) CREST including AIP Challenge Program
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/10155547/10155567/10155579.pdf?arnumber=10155579
Reference26 articles.
1. Constrained control for surgical assistant robots
2. Using General-Purpose Serial-Link Manipulators for Laparoscopic Surgery with Moving Remote Center of Motion
3. Autonomous Laparoscope Control for Minimally Invasive Surgery With Intuition and RCM Constraints
4. Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery
5. A new kinematic formulation of the RCM constraint for redundant torque-controlled robots
Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
1. Dynamic Global/Local multi-layer motion planner architecture for autonomous Cognitive Surgical Robots;Robotics and Autonomous Systems;2024-10
2. Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery;Sensors;2023-12-16
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