With such a robot, positioning the wrist center controls the instrument tip position when assuming that the insertion site behaves like a lever with a fixed and ...

Feb 27, 2018 · Robots with a spherical unactuated wrist can be used for minimally invasive surgery. With such a robot, positioning the wrist center controls ...

Purpose Robots with a spherical unactuated wrist can be used for minimally invasive surgery. With such a robot, positioning the wrist center controls the ...

Feb 20, 2018 · With such a robot, positioning the wrist center controls the instrument tip position when assuming that the insertion site behaves like a lever ...

Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. https://doi.org/10.1007 ...

More precisely, inserting an instrument through an orifice is equivalent to rigidly constrains the movements of the instrument along 4 degrees of freedom ...

Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. R Chalard, D Reversat ...

Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. International Journal ...

Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. Int J Comput Assist ...

Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. R Chalard, D Reversat ...