Closed-Loop Pose Control and Automated Suturing of Continuum Surgical Manipulators With Customized Wrist Markers Under Stereo Vision.
Baibo WuLongfei WangXu LiuLinhui WangKai XuPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- stereo vision
- closed loop
- open loop
- robot assisted
- control law
- minimally invasive surgery
- control system
- feedback control
- end effector
- degrees of freedom
- position control
- force feedback
- adaptive control
- guaranteed cost
- control scheme
- visual servoing
- minimally invasive
- pose estimation
- vision system
- stereo matching
- force control
- control strategy
- intraoperative
- pid controller
- robotic manipulator
- control method
- image guided
- inverted pendulum
- nonlinear systems
- robotic arm
- robotic systems
- optimal control
- path planning
- soft tissue
- motion planning
- joint angles
- control algorithm
- computer vision
- robot arm
- robot manipulators
- computer aided
- mobile robot
- master slave
- fuzzy controller