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Modeling of a constraint force at RCM point in a needle insertion task
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Cha, Hyo jeong;
Yi, Byung ju
Article
Issue Date
2011
Citation
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp.2177 - 2182
Publisher
IEEE
1
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Author
Cha, Hyo jeong
1
Subject
Closed-chains
1
Constraint force
1
Constraint forces
1
Force modeling
1
Kinematic constraints
1
Kinematics
1
Laparoscopic surgery
1
Minimally invasive surgery
1
Needle insertion
1
Needle-insertion task
1
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