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 routine laparoscopic surgeries, the fatigue operation and improper chief-assistant
coordination of the assistant surgeon both reduce the stability of the endoscopic field of view …

This paper presents a novel control architecture for controlling a moving remote center of
motion in addition to the end-effector motion during robotic surgery. In minimally invasive …

Remote center of motion (RCM) constraint has attracted many research interests as one of
the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has …

In minimally invasive surgery (MIS), surgical endoscope can be automated using visual
servoing by incorporating motion constraints into a time-variant quadratic programming …

The paper presents a complete geometric analysis of a novel parallel medical robotic
system designed for minimally invasive treatment of hepatic tumors using brachytherapy …

Remote center of motion is an essential motion during minimal invasive surgery where the
surgeon manipulates a medical instrument inside the human body. It is important to ensure …

In this paper, a novel method is proposed to implement automatic field of view control of
laparoscopes. The laparoscope is visually controlled to follow moving surgical tools under …

This paper examines the Euler–Rodrigues formula in dual 3-space D 3 by analyzing its
variations such as vectorial form, exponential map, point–line theory and quaternions which …

We consider the problem of controlling a bilateral leader-follower robotic surgical set-up to
allow kinesthetic haptic feedback to the user when the instrument approaches a forbidden …