Neural network-based physiological organ motion prediction and robot impedance control for teleoperated beating-heart surgery.
Lingbo ChengMahdi TavakoliPublished in: Biomed. Signal Process. Control. (2021)
Keyphrases
- beating heart
- motion artifacts
- minimally invasive
- force control
- motion compensation
- robotic arm
- force feedback
- magnetic resonance imaging
- mobile robot
- cardiac motion
- manipulation tasks
- minimally invasive surgery
- vision system
- robot manipulators
- motion planning
- robotic systems
- motion vectors
- end effector
- visual feedback
- humanoid robot
- degrees of freedom
- image quality
- image guided
- real time
- intraoperative
- closed loop
- medical imaging
- augmented reality
- virtual reality
- motion estimation
- three dimensional