Force tracking with feed-forward motion estimation for beating heart surgery

IEEE Transactions on Robotics

Volumn 26, Issue 5, 2010, Pages 888-896

  Yuen, Shelten G ^a,b   Perrin, Douglas P ^c   Vasilyev, Nikolay V ^c   Nido, Pedro J Del ^c   Howe, Robert D ^a,d  

^a HARVARD UNIVERSITY   (United States)

^b Human Innovation Inc   (United States)

^c BOSTON CHILDREN S HOSPITAL   (United States)

^d MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

3 D ultrasound; Beating heart surgery; force tracking; medical robotics; motion compensation

Indexed keywords

3-D ULTRASOUND; BANDWIDTH LIMITATION; BEATING HEART; BEATING HEART SURGERY; CONTACT FORCES; CONTROL LAWS; FEED-FORWARD; FORCE CONTROL APPROACH; FORCE CONTROLLER; FORCE FLUCTUATIONS; FORCE TRACKING; IN-VIVO; MEDICAL ROBOTICS; MOTION ESTIMATES; ROBOT STRUCTURES; SINGLE DEGREE OF FREEDOM SYSTEMS; SURGICAL INSTRUMENT; SURGICAL MANIPULATION; VIBRATORY MODE;

CONTROLLERS; DYNAMIC ANALYSIS; FORCE CONTROL; HEART; MOTION ESTIMATION; ROBOTICS; ROBOTS; SURGERY; SURGICAL EQUIPMENT; THREE DIMENSIONAL; ULTRASONICS;

MOTION COMPENSATION;

EID: 77957722347     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2053734     Document Type: Article

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