Perception, control and path planning of robotic laparoscopic surgical system

• Main Author: Καραδήμος, Αλέξιος
• Other Authors: Karadimos, Alexios
• Language: English
• Published: 2022
• Subjects: Minimal invasive surgery; Perception; Control system; Path planning; Fulcrum; ROS; Ελάχιστη επεμβατική χειρουργική; Αναγνώριση; Σύστημα ελέγχου; Σχεδιασμός διαδρομής

This thesis studies all the stages involved in the perception, control and manipulation of robotic laparoscopic tools with emphasis given to the pivot trajectories and the RCM constrained motion planning. The forward and inverse kinematics of the 7 DoF KUKA iiwa14 industrial robot arm was studied...