Accurate Pose Estimation for Comanipulation Robotic Surgery

Jef De Smet,Gianni Borghesan,Emmanuel Vander Poorten,Jef De Smet,Gianni Borghesan,Emmanuel Vander Poorten

Robotic comanipulation provides a cost-effective solution to telesurgery when remote operation is not strictly necessary. Within the field of laparoscopic surgery, the comanip-ulation scenario is only recently being exploited commercially in the form of lightweight backdrivable systems. A passive wrist backdrivable robot does not require preoperative alignment with the incision that acts as a fulc...