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cs.RO2017★ 1 cited
SPRK: A Low-Cost Stewart Platform For Motion Study In Surgical Robotics
Vatsal Patel, Sanjay Krishnan, Aimee Goncalves +1
To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a low-cost, miniaturized SPRK (Stewart Platform Research Kit) to translate and ro…
cs.RO2017
Using Intermittent Synchronization to Compensate for Rhythmic Body Motion During Autonomous Surgical Cutting and Debridement
Vatsal Patel, Sanjay Krishnan, Aimee Goncalves +3
Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose an…