Scaled position-force tracking for wireless teleoperation of miniaturized surgical robotic system.
Jing GuoChao LiuPhilippe PoignetPublished in: EMBC (2014)
Keyphrases
- robotic systems
- robotic manipulator
- position control
- laparoscopic surgery
- minimally invasive surgery
- force feedback
- robot assisted
- control architecture
- end effector
- degrees of freedom
- surgical instruments
- surgical tools
- vision system
- mobile robot
- visual feedback
- master slave
- position estimation
- image guided surgery
- real time
- wireless networks
- autonomous robots
- indoor environments
- intraoperative
- control scheme
- beating heart
- image guided
- force control
- visual servoing
- computer vision
- position information
- particle filter
- mobile devices
- surgical procedures
- contact force
- joint angles
- position and orientation
- object manipulation
- robot behavior
- motion planning