Haptic Feedback Control in Medical Robotics through Stiffness Estimation with Extended Kalman

Abstract : This paper discusses the design of an adaptive control system for robotic-assisted surgery with haptic feedback. Through a haptic device, the surgeon tele-operates the medical instrument, fixed in a remote robot, in free space or in contact. In free space, the surgeon feels the motion of the robot. When contact with tissues occurs, an on-line environment stiffness estimation is performed. Without considering a contact position, the environment estimation parameter strategy uses an Extended Kalman Filter with robot modeling errors compensation. Based on the transparency's frequency analysis, the estimated parameter is used to adapt the teleoperation scheme to ensure stability and to improve telepresence.
Type de document :
Communication dans un congrès
ICAR: International Conference on Advanced Robotics, Aug 2007, Jeju, South Korea. 13th International Conference on Advanced Robotics, pp.81-87, 2007, 〈http://www.icar2007.org/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00186798
Contributeur : Walid Zarrad <>
Soumis le : lundi 12 novembre 2007 - 14:48:06
Dernière modification le : mardi 17 juillet 2018 - 15:54:03

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  • HAL Id : lirmm-00186798, version 1

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Walid Zarrad, Philippe Poignet, Rui Cortesão, Olivier Company. Haptic Feedback Control in Medical Robotics through Stiffness Estimation with Extended Kalman. ICAR: International Conference on Advanced Robotics, Aug 2007, Jeju, South Korea. 13th International Conference on Advanced Robotics, pp.81-87, 2007, 〈http://www.icar2007.org/〉. 〈lirmm-00186798〉

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