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Model predictive control for compensation of cyclic organ motions in teleoperated laparoscopic surgery.
Jacques Gangloff
Romuald Ginhoux
Michel de Mathelin
Luc Soler
Jacques Marescaux
Published in:
IEEE Trans. Control. Syst. Technol. (2006)
Keyphrases
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laparoscopic surgery
model predictive control
visual feedback
minimally invasive surgery
control system
predictive control
robot assisted
master slave
image sequences
medical images
force feedback
human motion
degrees of freedom
video sequences
real time
intraoperative
robotic arm
optical flow
control scheme
soft tissue
minimally invasive
neuro fuzzy
three dimensional
configuration space
visual servoing
x ray
multiple models
human computer interface
anatomical structures
control strategy
deformable models
operating room
vision system
moving objects