Adaptive force feedback control for 3D compensation of physiological motion in beating heart surgery.
Zeineb ZarroukAhmed ChemoriPhilippe PoignetPublished in: IROS (2010)
Keyphrases
- beating heart
- force feedback
- end effector
- mitral valve
- motion compensation
- cardiac motion
- minimally invasive
- degrees of freedom
- virtual reality
- visual feedback
- magnetic resonance imaging
- robot manipulators
- haptic feedback
- inverse kinematics
- vision system
- robotic arm
- human operators
- intraoperative
- motion estimation
- three dimensional
- clinical applications
- visual servoing
- robot arm
- motion field
- robot control
- real time
- control strategies
- control law
- computer assisted
- motion model
- control system