Shape sensing and feedback control of the catheter robot for interventional surgery.
Fei QiBai ChenShigang SheShuyuan GaoPublished in: Ind. Robot (2021)
Keyphrases
- feedback control
- beating heart
- robot assisted
- minimally invasive
- image guided
- closed loop
- adaptive control
- optimal control
- mobile robot
- motion compensation
- open loop
- augmented reality
- real time
- shape model
- autonomous control
- pre operative
- magnetic resonance imaging
- inverted pendulum
- force feedback
- intraoperative
- surgical procedures
- position and orientation
- autonomous robots
- haptic feedback
- networked control systems
- linear time invariant
- bit rate
- path planning
- robot arm
- control system
- clinical applications
- medical devices
- minimally invasive surgery
- robot manipulators
- ct data
- vision system
- learning algorithm