A Force-driven and Vision-driven Hybrid Control Method of Autonomous Laparoscope-Holding Robot
Jin Fang,Ling Li,Xiaojian Li,Hangjie Mo,Pengxin Guo,Xilin Xiao,Yanwei Qu,Jin Fang,Ling Li,Xiaojian Li,Hangjie Mo,Pengxin Guo,Xilin Xiao,Yanwei Qu
Laparoscope-holding robots significantly enhance the stability and precision of visualization in minimally invasive surgeries. Most existing robots of this kind depend on visual servo systems and struggle with efficient, rapid adjustments in the field-of-view (FOV), especially when identifying organs and needles outside the FOV. This paper presents a laparoscope-holding robot system capable of emp...
