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Environment Modeling with Physiological Motion Disturbance for Surgical Teleoperation

Abdulrahman Albakri 1 Chao Liu 1 Philippe Poignet 1 
1 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper we propose a modeling method for the interaction impedance of a remote soft tissue that contains quasi-periodic physiological motion disturbance. Through this study, it is shown that the interaction with such environment is not passive and its influence should be considered in the teleoperator design. The interaction impedance depends not only on the soft tissue impedance but also on the relationship between the robotic tool motion and the soft tissue motion disturbance. An illustrative case study is presented to demonstrate how to analyze the environment interaction impedance in real application.
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Submitted on : Wednesday, February 17, 2016 - 2:55:00 PM
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Abdulrahman Albakri, Chao Liu, Philippe Poignet. Environment Modeling with Physiological Motion Disturbance for Surgical Teleoperation. ICCARV: International Conference on Control, Automation, Robotics and Vision, Dec 2014, Singapore, Singapore. pp.1298-1303, ⟨10.1109/ICARCV.2014.7064503⟩. ⟨lirmm-01275458⟩



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