Force-Position Hybrid Control for Robot Assisted Thoracic-Abdominal Puncture With Respiratory Movement.
Jinhang LiHuajie TangMingyang LvXiangyun LiaoPeng ZhangBaoliang ZhaoPak-Kin WongYing HuPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- robot assisted
- force feedback
- position control
- end effector
- image guided
- visual feedback
- laparoscopic surgery
- degrees of freedom
- control system
- minimally invasive
- robot arm
- inverse kinematics
- control strategies
- control scheme
- closed loop
- medical imaging
- visual servoing
- robot manipulators
- surgical procedures
- coronary artery bypass
- robotic arm
- joint angles
- virtual reality
- robot control
- respiratory motion
- image processing
- human operators
- ct scans
- control strategy
- user interface
- prostate cancer
- motion planning
- control algorithm