Master-slave control strategy for minimally invasive surgery with a fast inverse kinematics solution.
Zhuangzhuang ZhangQixin CaoPengfei WangGuohan HeTiewen PanPublished in: ROBIO (2019)
Keyphrases
- control strategy
- master slave
- inverse kinematics
- laparoscopic surgery
- minimally invasive surgery
- mathematical model
- robot manipulators
- control scheme
- control strategies
- control algorithm
- control method
- control system
- robot arm
- degrees of freedom
- motion planning
- end effector
- optimal control
- control law
- fuzzy controller
- soft tissue
- intraoperative
- three dimensional
- fuzzy neural network
- real time
- dynamic model