Model predictive control for compensation of cyclic organ motions in teleoperated laparoscopic surgery.
Jacques GangloffRomuald GinhouxMichel de MathelinLuc SolerJacques MarescauxPublished in: IEEE Trans. Control. Syst. Technol. (2006)
Keyphrases
- 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