Position Control of BIGSS Lab Snake for Revision Total Hip Arthroplasty (THA) Surgery
نویسنده
چکیده
The BIGSS lab is developing a minimally-invasive surgical workstation to treat the osteolytic lesions using using a snake like dexterous manipulator (SDM). The SDM will be positioned in the workspace by a robotic arm. The focus of this project is integrating the SDM with the robotic armwhich is a 6 DOF Universal Robot (UR5) and position control of the tip of the SDM inside the lesion area.
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