Force control of flexible catheter robots for beating heart surgery.
Samuel B. KesnerRobert D. HowePublished in: ICRA (2011)
Keyphrases
- beating heart
- force control
- robot manipulators
- minimally invasive
- motion compensation
- magnetic resonance imaging
- control strategy
- surgical tools
- closed loop
- mobile robot
- intraoperative
- multi robot
- robotic systems
- autonomous robots
- control law
- control scheme
- clinical applications
- boundary conditions
- motion estimation
- computer vision
- real time