Rik Jansen

Learn More
— This paper considers robotic automation of a common surgical retraction primitive of exposing an underlying area by grasping and lifting a thin, 3D, possibly inhomogeneous layer of tissue. We present an algorithm that computes a set of stable and secure grasp-and-retract trajectories for a point-jaw gripper moving along a plane, and runs a 3D finite(More)
  • 1