Paper Info
Title
Beating-heart robotic surgery using bilateral impedance control: Theory and experiments.
Abstract
•A force-based strategy is proposed for the teleoperation-assisted surgery of beating heart.•Without any prediction or observation, compensation for the physiological heart motions is ensured.•Oscillatory component of the beating-heart force is filtered out under the surgeon’s hand.•Two types of adaptation laws provide robustness against system uncertainties.•Stability and tracking convergence are proven using the Lyapunov theorem.
Year
DOI
Venue
2018
10.1016/j.bspc.2018.05.015
Biomedical Signal Processing and Control
Keywords
Field
DocType
Beating-heart surgery,Robotic surgery,Bilateral impedance teleoperation control,Nonlinear adaptive control
Computer vision,Control theory,Control theory,Contact force,Robustness (computer science),Electrical impedance,Impedance control,Parametric statistics,Artificial intelligence,Robot,Haptic technology,Mathematics
Journal
Volume
ISSN
Citations 
45
1746-8094
3
PageRank 
References 
Authors
0.45
20
4
Name
Order
Citations
PageRank
Mojtaba Sharifi1154.55
H. Salarieh2408.50
Saeed Behzadipour3698.16
Mahdi Tavakoli422349.03