Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion.
Carlos FontúrbelAna CisnalJuan Carlos Fraile MarineroJavier Pérez TurielPublished in: Frontiers Robotics AI (2023)
Keyphrases
- control strategy
- robot motion
- laparoscopic surgery
- visual feedback
- visual servoing
- control loop
- control law
- force control
- control algorithm
- control scheme
- end effector
- camera motion
- control system
- control method
- master slave
- mobile robot
- mathematical model
- optimal control
- robotic arm
- vision system
- robot assisted
- control strategies
- outdoor environments
- contact force
- real time
- robotic systems
- minimally invasive surgery
- fuzzy controller
- force feedback
- three dimensional
- position and orientation
- multiple cameras