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.
Force -based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion
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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.