Constrained Kinematic Control in Minimally Invasive Robotic Surgery Subject to Remote Center of Motion Constraint.
Hamid SadeghianFatemeh ZokaeiShahram Hadian JaziPublished in: J. Intell. Robotic Syst. (2019)
Keyphrases
- minimally invasive
- surgical robot
- end effector
- radio frequency ablation
- beating heart
- robotic assisted
- degrees of freedom
- robot assisted
- tactile sensing
- inverse kinematics
- robot motion
- tissue deformation
- robot manipulators
- image guided
- parallel robot
- vision system
- robotic platform
- robotic arm
- intraoperative
- visual servoing
- robot arm
- minimally invasive surgery
- surgical procedures
- robotic systems
- augmented reality
- surgical simulation
- real time
- force feedback
- clinical applications
- motion tracking
- mobile robot
- motion planning
- configuration space
- motion estimation
- cardiac surgery
- image sequences
- robot control
- control law
- control strategy
- computer assisted
- computer vision
- human motion
- motion capture
- pre operative
- master slave
- human computer interaction
- image analysis
- aortic valve
- image processing
- joint angles