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Skip to Search Results- 2impedance control
- 1Motion compensation
- 1Robot-assisted surgery
- 1beating- heart surgery
- 1beating-heart surgery
- 1force feedback
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2018-01-01
Lingbo Cheng, Mojtaba Sharifi, and Mahdi Tavakoli
Background: Beating-heart intracardiac surgery promises significant benefits for patients compared to cardiopulmonary bypass based procedures. However, the fast motions of the heart introduce serious challenges for surgeons. Methods: In this paper, a new impedance-controlled master-slave...
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2018-01-01
Lingbo Cheng and Mahdi Tavakoli
A novel control method is proposed for master-slave telerobotic beating-heart surgery to solve the challenges of rapid heart motion and oscillatory haptic feedback. In this paper, the ultrasound imaging-based control algorithms are used to make the slave robot compensate for the heart motion...