Model predictive control of a robotically actuated delivery sheath for beating heart compensation.
Gustaaf J. VrooijinkAlper DenasiJan G. GrandjeanSarthak MisraPublished in: Int. J. Robotics Res. (2017)
Keyphrases
- beating heart
- model predictive control
- predictive control
- control system
- control scheme
- motion compensation
- control law
- magnetic resonance imaging
- mitral valve
- minimally invasive
- closed loop
- real time
- control strategy
- dynamic model
- fuzzy logic
- mpc algorithm
- aortic valve
- intraoperative
- fuzzy rules
- motion compensated
- control algorithm
- soft computing
- ct images
- computer assisted