Force control for tissue tensioning in precise robotic laser surgery.
Sergio Portolés DiezP. VanbiervlietBenoit RosaC. TomassettiChristel MeulemanEmmanuel B. Vander PoortenDominiek ReynaertsPublished in: ICRA (2015)
Keyphrases
- force control
- contact force
- force feedback
- surgical robot
- robot manipulators
- minimally invasive surgery
- position control
- minimally invasive
- robot assisted
- end effector
- surgical simulation
- finite element analysis
- computer assisted
- robotic cell
- virtual reality
- master slave
- closed loop
- finite element model
- robotic systems
- control strategy
- impedance control
- control law
- finite element
- real time
- degrees of freedom
- intraoperative
- control scheme
- visual feedback
- three dimensional
- robotic arm
- computer aided
- robotic manipulator
- linear model
- computer graphics
- vision system
- needle insertion
- control system
- soft tissue
- inverse kinematics
- image guided
- control architecture