Serial Comanipulation in Beating Heart Surgery Using a LWPR-Model Based Predictive Force Control Approach.
Juan Manuel FlorezDelphine BellotJérôme SzewczykGuillaume MorelPublished in: ICIRA (2) (2011)
Keyphrases
- beating heart
- force control
- minimally invasive
- robot manipulators
- motion compensation
- closed loop
- control strategy
- surgical tools
- magnetic resonance imaging
- control law
- intraoperative
- control scheme
- aortic valve
- contact force
- clinical applications
- motion estimation
- image guided
- optimal control
- motion vectors
- control system
- computer vision
- real time