Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery.
Teng LiArmin BadreHamid D. TaghiradMahdi TavakoliPublished in: IROS (2022)
Keyphrases
- robot assisted
- impedance control
- minimally invasive
- force feedback
- coronary artery bypass
- laparoscopic surgery
- image guided
- force control
- optimal control
- end effector
- visual feedback
- model free
- augmented reality
- intraoperative
- control strategy
- virtual reality
- cochlear implant
- control system
- robotic arm
- robot control
- robot manipulators
- real time
- degrees of freedom
- computer vision
- surgical procedures
- adaptive control
- manipulation tasks
- robotic systems
- computer assisted
- mathematical model