Optimization-based Concurrent Control of a High Dexterity Robot for Vitreoretinal Surgery.
Kai ShiYishun ZhouAli EbrahimiGang LiIulian IordachitaPublished in: ISMR (2022)
Keyphrases
- robot assisted
- end effector
- force feedback
- robot control
- control theoretic
- sensory motor
- mobile robot
- robot manipulators
- robotic systems
- autonomous robots
- hand eye
- visual servoing
- object manipulation
- optimization algorithm
- control architecture
- optimization problems
- degrees of freedom
- control signals
- robot behavior
- minimally invasive
- robot arm
- minimally invasive surgery
- motion control
- computer assisted
- robotic manipulator
- hand eye coordination
- robotic arm
- home environment
- laparoscopic surgery
- control system
- autonomous vehicles
- vision system
- control strategy
- force control
- motor learning
- intraoperative
- haptic feedback
- inverse kinematics
- control method
- image guided
- position and orientation
- human robot interaction
- robot navigation
- action selection
- multi robot
- human operators
- obstacle avoidance
- semi autonomous
- biped robot
- visual feedback
- real time
- sagittal plane