2019
6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument
IROS 2019poster
In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic instrument tip force/torques in robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) surgical robotic forceps prototype. This…