Visual servoing controller for time-invariant 3D path following with remote centre of motion constraint

Abstract

The Remote Centre of Motion (RCM) is an essential movement for most of the medical robotic systems during the minimal invasive surgeries. In literature, there are many references which had analysed the techniques for modelling the problem of RCM constraint. However, only very few have discussed the RCM with Path Following Controller which ensures the… (More)
DOI: 10.1109/ICRA.2017.7989416

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