Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.
Ali EbrahimiNiravkumar A. PatelChangyan HePeter GehlbachMarin KobilarovIulian IordachitaPublished in: ICRA (2019)
Keyphrases
- adaptive control
- robot assisted
- force feedback
- cochlear implant
- minimally invasive
- surgical robot
- nonlinear systems
- coronary artery bypass
- control law
- control method
- laparoscopic surgery
- end effector
- intraoperative
- image guided
- reinforcement learning
- virtual reality
- dynamic environments
- blood vessels
- visual feedback
- robot arm
- image analysis
- control system
- closed loop
- augmented reality
- computer assisted
- clinical applications
- computer vision