Control scheme with tissue interaction detection for a single port access surgery robotic platform.
Carlos Jesús Pérez-del-PulgarVictor F. MuñozPublished in: BioRob (2014)
Keyphrases
- control scheme
- robotic platform
- closed loop
- dynamic model
- control strategy
- control system
- control law
- controller design
- robot manipulators
- predictive control
- fuzzy controller
- pid controller
- minimally invasive
- robotic manipulator
- induction motor
- mobile robot
- control loop
- haptic feedback
- fault tolerant control
- minimally invasive surgery
- nonlinear systems
- computer assisted
- image analysis
- three dimensional
- computer vision
- real time