An Energy Tank-Based Interactive Control Architecture for Autonomous and Teleoperated Robotic Surgery.
Federica FerragutiNicola PredaAuralius ManurungMarcello BonfèOlivier LambercyRoger GassertRiccardo MuradorePaolo FioriniCristian SecchiPublished in: IEEE Trans. Robotics (2015)
Keyphrases
- robotic systems
- control architecture
- minimally invasive surgery
- laparoscopic surgery
- force feedback
- mobile robot
- control theoretic
- control system
- vision system
- autonomous robots
- gaze control
- virtual reality
- computer assisted
- shop floor
- robotic manipulator
- robotic arm
- distributed control
- user interaction
- intraoperative
- robot assisted
- surgical procedures
- control scheme
- surgical robot
- minimally invasive
- learning algorithm
- control strategy
- energy minimization
- closed loop
- autonomous agents
- human computer interaction
- cooperative