Disturbance Rejection in Multi-DOF Local Magnetic Actuation for the Robotic Abdominal Surgery.
Florence LeongAlireza MohammadiYing TanDenny ThiruchelvamChow Yin LaiPietro ValdastriDenny OetomoPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- disturbance rejection
- closed loop
- control system
- robotic manipulator
- position control
- limit cycle
- control scheme
- computer assisted
- degrees of freedom
- intraoperative
- pid controller
- image guided
- robotic arm
- real time
- ct data
- surgical procedures
- robotic systems
- minimally invasive
- mobile robot
- minimally invasive surgery
- path planning
- control law
- operating room
- robot assisted
- force feedback
- experimental data
- neural network