Position Control of Motion Compensation Cardiac Catheters.
Samuel B. KesnerRobert D. HowePublished in: IEEE Trans. Robotics (2011)
Keyphrases
- motion compensation
- position control
- beating heart
- control scheme
- closed loop
- robotic manipulator
- force control
- video compression
- motion compensated
- motion estimation
- video coding
- respiratory motion
- motion field
- robot arm
- cardiac motion
- control system
- motion vectors
- control strategies
- dc motor
- pid controller
- feedback loop
- cardiac cycle
- patient specific
- block matching
- degrees of freedom
- robot manipulators
- end effector
- control architecture
- control law
- left ventricle
- control strategy
- vision system
- genetic algorithm
- overlapped block motion compensation
- dynamic model
- experimental data
- optical flow
- video sequences
- multimedia