Controller definition of a robotic remote center of motion
作者： Aleksandra Popovic , Haytham Elhawary
DOI:
关键词:
摘要: A robotic surgical system employs a instrument (20), robot (40) for navigating the (20) relative to an anatomical region (10) within coordinate (42) of (40), and controller (43) defining remote center motion spherical rotation based on physical location port (12) into (10). The definition is used by command align with spherically rotating
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