Hunt-Crossley model based force control for minimally invasive robotic surgery.
Antonio PappalardoAbdulrahman AlbakriChao LiuLuca BascettaElena De MomiPhilippe PoignetPublished in: Biomed. Signal Process. Control. (2016)
Keyphrases
- minimally invasive
- force control
- radio frequency ablation
- surgical robot
- tactile sensing
- robot assisted
- robot manipulators
- position control
- augmented reality
- contact force
- image guided
- control strategy
- beating heart
- intraoperative
- closed loop
- surgical procedures
- minimally invasive surgery
- clinical applications
- cardiac surgery
- surgical simulation
- robotic assisted
- robotic systems
- real time
- image processing
- mobile robot
- pre operative
- control law
- x ray
- user interface