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Robotique médicale et commande en effort

Etienne Dombre 1 Philippe Poignet 1 
1 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : After having described the scope of medical robotics, its advantages and limitations, we recall the most commonly used force control schemes. Then, in order to show the interest of such control, we present some examples of application: control of interaction between instruments and soft tissues, modeling of these interactions, tele-operation and comanipulation of the instrument by both the robot and the surgeon.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00189911
Contributor : Philippe Poignet Connect in order to contact the contributor
Submitted on : Thursday, September 22, 2022 - 12:30:15 PM
Last modification on : Saturday, September 24, 2022 - 3:35:34 AM

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Etienne Dombre, Philippe Poignet. Robotique médicale et commande en effort. Journal Européen des Systèmes Automatisés (JESA), Lavoisier, 2007, 41 (9-10), pp.999-1019. ⟨10.3166/JESA.41.999-1019⟩. ⟨lirmm-00189911⟩

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