Force Tracking With Feed-Forward Motion Estimation for Beating Heart Surgery

Force Tracking With Feed-Forward Motion Estimation for Beating Heart Surgery

The manipulation of fast-moving, delicate tissues in beating heart procedures presents a considerable challenge to the surgeon. A robotic force tracking system can assist the surgeon by applying precise contact forces to the beating heart during surgical manipulation. Standard force control approach...

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Bibliographic Details
Main Authors: Yuen, Shelten G., Perrin, Douglas P., Vasilyev, Nikolay V., del Nido, Pedro J., Howe, Robert D.
Other Authors: Harvard University--MIT Division of Health Sciences and Technology
Format: Article
Language:en_US
Published: Institute of Electrical and Electronics Engineers (IEEE) 2012
Online Access:http://hdl.handle.net/1721.1/69895

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