Force perception -based active breath-following control of a puncture ablation surgery robot end effector.
Tao YongDongming HanTianmiao WangYufan ZhangLian DuanYiru WangPublished in: ROBIO (2023)
Keyphrases
- end effector
- force feedback
- degrees of freedom
- robot manipulators
- vision system
- robot arm
- visual servoing
- inverse kinematics
- robotic manipulator
- robot assisted
- surgical robot
- robotic arm
- manipulation tasks
- intraoperative
- hand eye calibration
- force control
- motion planning
- position control
- control law
- joint space
- impedance control
- minimally invasive surgery
- pose estimation
- mobile robot
- image guided
- contact force
- real time
- robot motion
- computer vision
- x ray
- path planning
- pre operative
- control strategies
- robot control