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Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments.

Dongwen Zhang | Qingsong Zhu | Jing Xiong | Lei Wang
Biomedical engineering online | 2014

In a deforming anatomic environment, the motion of an instrument suffers from complex geometrical and dynamic constraints, robot assisted minimally invasive surgery therefore requires more sophisticated skills for surgeons. This paper proposes a novel dynamic virtual fixture (DVF) to enhance the surgical operation accuracy of admittance-type medical robotics in the deforming environment.

Pubmed ID: 24767578

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RRID:SCR_008314

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