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Document type:
Technical Report 
Author(s):
Hermann Mayer; Istvan Nagy; Alois Knoll 
Title:
Inverse Kinematics of a Manipulator for Minimally Invasive Surgery 
Abstract:
In this report we describe the inverse kinematics of our robotic system for minimally invasive surgery. Special respect is given to an intuitive operability of the user interface. Therefore we apply the concept of so-called trocar kinematics. Meaning that the manipulator (in our case an instrument for minimally invasive surgery) has to pass a fixed opening through the surface of the patient's body. It is the principle idea of minimally invasive surgery to perform all surgical tasks through small...    »
 
Keywords:
inverse kinematics; trocar kinematics 
Year:
2004 
Year / month:
2004-01-01 00:00:00 
Pages:
18