Variable Admittance Control Based on Fuzzy Reinforcement Learning for Minimally Invasive Surgery Manipulator.
Zhijiang DuWei WangZhiyuan YanWei DongWeidong WangPublished in: Sensors (2017)
Keyphrases
- robotic control
- minimally invasive surgery
- degrees of freedom
- robotic arm
- laparoscopic surgery
- reinforcement learning
- control system
- control method
- end effector
- intraoperative
- optimal control
- visual feedback
- motion planning
- soft tissue
- tissue deformation
- master slave
- surgical navigation
- visual servoing
- minimally invasive
- robot control
- control strategies
- force feedback
- sliding mode
- surgical instruments
- pose estimation
- robot manipulators
- motion tracking
- surgical procedures
- robotic systems
- control strategy
- virtual reality
- robotic assisted