A unified mechanics framework maps multimodal surgical signals to equivalent wrenches and uses task-priority projection to generate laparoscope control commands while enforcing RCM constraints.
Control Strategy for Direct Teaching of Non -Mechanical Remote Center Motion of Surgical Assistant Robot with Force/Torque Sensor
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Autonomous Laparoscope Control through Unified Mechanics-Based Representation of Multimodal Intraoperative Information
A unified mechanics framework maps multimodal surgical signals to equivalent wrenches and uses task-priority projection to generate laparoscope control commands while enforcing RCM constraints.