Soft tissue force control using active observers and viscoelastic interaction model.
Pedro MoreiraChao LiuNabil ZemitiPhilippe PoignetPublished in: ICRA (2012)
Keyphrases
- soft tissue
- force control
- interaction model
- needle insertion
- medical images
- finite element
- virtual environment
- robot manipulators
- magnetic resonance
- closed loop
- control strategy
- deformable models
- image registration
- minimally invasive surgery
- maxillofacial surgery
- user interface
- mixed initiative
- mr images
- tissue deformation
- control law
- automatic segmentation
- machine learning
- real time