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Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery
2021
Robotics
The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity,
doi:10.3390/robotics10010027
fatcat:777bxyjxnzarbeo6gd25witefm