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Teleoperation of Continuum Instruments: Investigation of Linear vs. Angular Commands through Task-Priority Analysis
E Nasiri, L Wang - arxiv preprint arxiv:2412.06035, 2024 - arxiv.org
This paper addresses the challenge of teleoperating continuum instruments for minimally
invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic …
invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic …
Hybrid Force-Motion Control and Telemanipulation Strategies Using Redundancy Resolution Methods for Surgical and Manufacturing Applications
E Nasiri - 2024 - search.proquest.com
This thesis explores advanced hybrid force-motion control and telemanipulation strategies
using redundancy resolution methods for surgical and manufacturing applications. The …
using redundancy resolution methods for surgical and manufacturing applications. The …