2017
Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing
Justin D. Opfermann, Simon Leonard, Ryan S. Decker, Nicholas A. Uebele, Christopher E. Bayne, Arjun S. Joshi +1
IROS 2017poster
This paper specifies a surgical robot performing semi-autonomous electrosurgery for tumor resection and evaluates its accuracy using a visual servoing paradigm. We describe the design and integration of a novel, multi-degree of freedom electrosurgical tool for the smart tissue autonomous robot (STAR…