Some control-related issues in mini-robotics for endoluminal surgery - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

Some control-related issues in mini-robotics for endoluminal surgery

Abstract

This paper introduces some issues related to the development of robotics for endoluminal surgery from control point of view. Endoluminal surgery are incisionless procedures performed through natural orifices within the natural pathways. New devices are then required to achieve these new surgical procedures. Besides the development of new devices, control issues arise in both technological and theoretical aspects. The paper presents some of them and we propose a teleoperation architecture that has already been tested for needle insertion that could be used for teleoperated endoluminal surgery especially for instance for biopsies or anastomoses.

Domains

Automatic
Fichier principal
Vignette du fichier
main-EMBC09.pdf (736.48 Ko) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

lirmm-00431187 , version 1 (10-09-2019)

Identifiers

  • HAL Id : lirmm-00431187 , version 1

Cite

Philippe Poignet, Ahmed Chemori, Nabil Zemiti, Chao Liu. Some control-related issues in mini-robotics for endoluminal surgery. EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855. ⟨lirmm-00431187⟩
108 View
145 Download

Share

Gmail Mastodon Facebook X LinkedIn More