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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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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00119815
Contributor : Walid Zarrad <>
Submitted on : Tuesday, December 12, 2006 - 11:27:42 AM
Last modification on : Thursday, December 6, 2018 - 3:06:02 PM

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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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