Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2006

Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery

Abstract

This paper discusses the design of a control system for robotic-assisted surgery with haptic feedback. The operational space control has a position-position teleopearation architecture with the phantom in the loop, enabling telepresence in free-space and contact. The null space control guarantees that surgical kinematic constraints are fulfilled. Both task and posture control run active observers (AOBs) in Cartesian domain, taking into account force, velocity and position signals. Experiments with a D2M2 (direct drive medical manipulator) robot are presented.

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Dates and versions

lirmm-00119815 , version 1 (12-12-2006)

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Rui Cortesão, Walid Zarrad, Philippe Poignet, Olivier Company, Etienne Dombre. Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery. IROS: Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.454-459, ⟨10.1109/IROS.2006.282168⟩. ⟨lirmm-00119815⟩
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