A Passive Variable Impedance Control Strategy with Viscoelastic Parameters Estimation of Soft Tissues for Safe Ultrasonography.
Luca BeberEdoardo LamonDavide NardiDaniele FontanelliMatteo SaverianoLuigi PalopoliPublished in: ICRA (2024)
Keyphrases
- soft tissue
- control strategy
- parameters estimation
- medical images
- finite element
- control algorithm
- parameter estimation
- control system
- operating conditions
- mathematical model
- control strategies
- control method
- control scheme
- deformable models
- magnetic resonance
- image restoration
- estimation algorithm
- elastic properties
- fuzzy controller
- image registration
- control law
- minimally invasive surgery
- automatic segmentation
- mass spring
- mr images
- blurred images
- force control
- multiscale
- closed loop
- finite element analysis
- model selection
- maximum likelihood
- tissue deformation
- pairwise