Force estimation of end-effector interacting with non-passive soft tissue in robotic beating heart surgery.
Maryam SharifiIman SharifiHeidar Ali TalebiMasood ShafieePublished in: AIM (2016)
Keyphrases
- surgical robot
- minimally invasive surgery
- minimally invasive
- beating heart
- soft tissue
- surgical tools
- robotic assisted
- intraoperative
- robot assisted
- medical images
- image guided
- augmented reality
- clinical applications
- finite element
- magnetic resonance
- end effector
- surgical procedures
- degrees of freedom
- magnetic resonance imaging
- deformable models
- x ray
- computer assisted
- real time
- pre operative
- input image
- image registration
- position control
- user interface