Robotic-Arm-Based Force Control in Neurosurgical Practice

Robotic-Arm-Based Force Control in Neurosurgical Practice

This research proposes an optimal robotic arm speed shape in neurological surgery to minimise a cost functional that uses an adaptive scheme to determine the brain tissue force. Until now, there have been no studies or theories on the shape of the robotic arm speed in such a context. The authors hav...

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Bibliographic Details
Main Authors: Ibai Inziarte-Hidalgo, Irantzu Uriarte, Unai Fernandez-Gamiz, Gorka Sorrosal, Ekaitz Zulueta
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Mathematics
Subjects:
neurosurgical robotics
optimal control
optimal speed shape
Online Access:https://www.mdpi.com/2227-7390/11/4/828

Internet

https://www.mdpi.com/2227-7390/11/4/828

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