Hierarchical Task Impedance Control of a Serial Manipulator for Minimally Invasive Surgery.
Hang SuChenguang YangJiehao LiYiming JiangGiancarlo FerrignoElena De MomiPublished in: ICHMS (2020)
Keyphrases
- minimally invasive surgery
- laparoscopic surgery
- degrees of freedom
- impedance control
- force control
- end effector
- intraoperative
- minimally invasive
- soft tissue
- robot manipulators
- pose estimation
- position control
- manipulation tasks
- visual feedback
- closed loop
- robotic arm
- image guided
- robot assisted
- machine learning
- model free
- control strategy
- computer aided
- deformable models
- virtual environment
- control system