Preliminary study for motion scaling based control in minimally invasive vascular interventional robot.
Zhen-Qiu FengGui-Bin BianXiaoliang XieJian-Long HaoZhan-Jie GaoZeng-Guang HouPublished in: EMBC (2015)
Keyphrases
- minimally invasive
- preliminary study
- robot assisted
- beating heart
- control signals
- tactile sensing
- end effector
- robotic assisted
- robotic platform
- image guided
- surgical robot
- humanoid robot
- virtual endoscopy
- robot manipulators
- visual servoing
- robotic arm
- autonomous robots
- augmented reality
- inverse kinematics
- intraoperative
- clinical applications
- motion planning
- robot control
- robotic systems
- degrees of freedom
- camera motion
- vision system
- minimally invasive surgery
- mobile robot
- robot arm
- motion estimation
- control system
- surgical procedures
- image sequences
- position and orientation
- configuration space
- motion compensation
- control law
- multi robot
- computer assisted
- human operators
- motion tracking
- blood vessels
- image analysis