Experimental validation of manipulability optimization control of a 7-DoF serial manipulator for robot-assisted surgery.

Hang SuAndrea DanioniRobert Mihai MiraMatteo UngariXuanyi ZhouJiehao LiYingbai HuGiancarlo FerrignoElena De Momi

Published in: The international journal of medical robotics + computer assisted surgery : MRCAS (2020)

The method validated in this work achieved optimized manipulability with a loss of error. Future works should be introduced to improve the accuracy of the surgical operation.

Keyphrases

robot assisted
minimally invasive
coronary artery bypass
current status
surgical site infection
coronary artery disease
acute coronary syndrome