Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Poster Year : 2011

Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model

Abstract

Usually, force control algorithms developed for medical applications use a basic elastic model to represent the interaction between the robot and soft tissue. It is known that soft tissues are complex structures with viscoelastic properties as well as nonheterogeneity and hysteresis behavior. This work intends to improve the performance and the robustness of a force control scheme using a more realistic interaction model. The proposed force control is a model based algorithm using a Kelvin-Boltzmann viscoelastic model as the interaction model.

Domains

Automatic

Dates and versions

lirmm-00779228 , version 1 (21-01-2013)

Identifiers

Cite

Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model. SKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. , 2011, ⟨10.1051/bioconf/20110100066⟩. ⟨lirmm-00779228⟩
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