Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits
patients in terms of improved postoperative outcomes and short recovery time. The …

Although substantial advancements have been achieved in robot-assisted surgery, the
blueprint to existing snake robotics predominantly focuses on the preliminary structural …

An improved human-robot collaborative control scheme is proposed in a teleoperated
minimally invasive surgery scenario, based on a hierarchical operational space formulation …

Surgical-tool joint detection from laparoscopic images is an important but challenging task in
computer-assisted minimally invasive surgery. Illumination levels, variations in background …

Endoscopic procedures have transformed minimally invasive surgery as they allow the
examination and intervention on a patient's anatomy through natural orifices, without the …

Minimally invasive surgery assisted by robots is characterized by the restriction of feasible
motions of the manipulator link constrained to move through the entry port to the patient's …

Estimating the 3-D pose of instruments is an important part of robotic minimally invasive
surgery for automation of basic procedures as well as providing safety features, such as …

Minimally invasive surgery has undergone significant advancements in recent years,
transforming various surgical procedures by minimizing patient trauma, postoperative pain …

This paper presents kinematic control of surgical robotic systems subject to Remote Center
of Motion (RCM) constraint in Minimally Invasive Robotic Surgeries (MIRS). A novel …

In this paper, we propose a control framework for robot-assisted minimally invasive general
surgery (RA-MIS) for physical human–robot collaboration using a redundant 7-DoF serial …