GPC-based teleoperation for delay compensation and disturbance rejection in image-guided beating-heart surgery.
Meaghan BowthorpeAbril Alvarez GarciaMahdi TavakoliPublished in: ICRA (2014)
Keyphrases
- image guided
- beating heart
- minimally invasive
- disturbance rejection
- limit cycle
- closed loop
- intraoperative
- robot assisted
- surgical tools
- medical imaging
- control system
- imaging modalities
- control scheme
- prostate cancer
- cardiac motion
- pid controller
- treatment planning
- x ray
- augmented reality
- image guided surgery
- control loop
- surgical procedures
- minimally invasive surgery
- radiation therapy
- magnetic resonance imaging
- control law
- computer assisted
- pre operative
- ct data
- force feedback
- clinical applications
- respiratory motion
- anatomical structures
- motion compensation
- mr images
- decision support system