Generalized Predictive Control of a Surgical Robot for Beating-Heart Surgery Under Delayed and Slowly-Sampled Ultrasound Image Data.
Meaghan BowthorpeMahdi TavakoliPublished in: IEEE Robotics Autom. Lett. (2016)
Keyphrases
- pattern recognition
- minimally invasive
- beating heart
- predictive control
- surgical robot
- image data
- robot assisted
- minimally invasive surgery
- control scheme
- intraoperative
- image guided
- augmented reality
- neuro fuzzy
- control strategy
- multiple models
- clinical applications
- surgical procedures
- magnetic resonance
- motion compensation
- control law
- pre operative
- power plant
- x ray
- image registration
- deformable models
- human computer interaction
- ct data
- imaging modalities
- computer assisted