Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing
FREE-DOWNLOAD A Krupa, J Gangloff, C Doignon… – Robotics and …, 2003
. The goal of the automated task is to safely bring the in- strument at a desired three . that a rotation
of the endoscope as big as 60 still preserves the stability of the system. . the convergence properties
be degraded in case of an exceptional change of , the tracking performances can