Beating Heart Tracking in Robotic Surgery using 500 Hz Visual Servoing, Model Predictive Control and an Adaptive Observer.
Romuald GinhouxJacques GangloffMichel de MathelinLuc SolerMaria Mara Arenas SanchezJacques MarescauxPublished in: ICRA (2004)
Keyphrases
- beating heart
- visual servoing
- model predictive control
- mobile robot
- robotic arm
- control law
- predictive control
- surgical tools
- control system
- minimally invasive
- image based visual servoing
- motion compensation
- vision system
- robot control
- cardiac motion
- magnetic resonance imaging
- real time
- camera motion
- control scheme
- closed loop
- visual feedback
- control algorithm
- motion planning
- autonomous robots
- intraoperative
- end effector
- image space
- control method
- expert systems
- path planning
- robotic systems
- model free
- medical imaging
- mathematical model
- motion vectors
- motion estimation
- three dimensional