Switched-Impedance Control of Surgical Robots in Teleoperated Beating-Heart Surgery.
Lingbo ChengMahdi TavakoliPublished in: J. Medical Robotics Res. (2018)
Keyphrases
- beating heart
- impedance control
- manipulation tasks
- minimally invasive
- robotic arm
- minimally invasive surgery
- surgical tools
- robot assisted
- intraoperative
- robotic systems
- robotic assisted
- motion compensation
- magnetic resonance imaging
- robot navigation
- degrees of freedom
- motion planning
- force control
- mitral valve
- image guided
- mobile robot
- human robot interaction
- end effector
- clinical applications
- service robots
- augmented reality
- surgical procedures
- humanoid robot
- optimal control
- medical images
- multi robot
- computer assisted
- pre operative
- master slave
- model free
- force feedback
- control system
- vision system
- real robot
- robot control