Using continuum robots for force-controlled semi autonomous organ exploration and registration. Yasin, R., Wang, L., Abah, C., & Simaan, N. In Medical Robotics (ISMR), 2018 International Symposium on, pages 1–6, 2018. IEEE.
bibtex   
@inproceedings{yasin_using_2018,
	title = {Using continuum robots for force-controlled semi autonomous organ exploration and registration},
	booktitle = {Medical {Robotics} ({ISMR}), 2018 {International} {Symposium} on},
	publisher = {IEEE},
	author = {Yasin, Rashid and Wang, Long and Abah, Colette and Simaan, Nabil},
	year = {2018},
	keywords = {Aerospace electronics, Force, IREP system, Kinematics, Robot kinematics, Robot sensing systems, Task analysis, autonomous organ registration, coherent point drift registration, continuum robots, deformable registration, end effectors, end-effector position measurements, feedback, force control, force-controlled exploration data, hybrid force/position controller, image registration, integrating intrinsic force sensing, intraoperative organ geometry, medical image processing, medical robotics, mixed feedback control law, organ deformation, position control, preoperative images, preoperative model, preoperative organ geometry, reference motion trajectory, robot vision, semiautonomous organ exploration, single port access surgical system, surgery, surgical plan, surgical scene, surgical tasks, telemanipulated surgical procedures, virtual fixture laws, virtual fixtures},
	pages = {1--6}
}
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