Repulsive torque control of a robot-assisted surgery system using a magnetorheological haptic master.
Byung-Keun SongJong-Seok OhPyunghwa KimSoomin KimSeung-Bok ChoiPublished in: J. Syst. Control. Eng. (2016)
Keyphrases
- robot assisted
- force feedback
- minimally invasive
- virtual reality
- contact force
- laparoscopic surgery
- haptic feedback
- coronary artery bypass
- visual feedback
- robotic arm
- end effector
- robot arm
- augmented reality
- control strategy
- real time
- human operators
- vision system
- control algorithm
- optimal control
- needle insertion
- surgical robot
- image segmentation