Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Accéder directement au contenu
Communication Dans Un Congrès Année : 2006

Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery

Résumé

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.
Fichier non déposé

Dates et versions

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

Identifiants

Citer

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⟩
105 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More