Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery
- 1 October 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 454-459
- https://doi.org/10.1109/iros.2006.282168
Abstract
This paper discusses the design of a control system for robotic-assisted surgery with haptic feedback. The operational space control has a position-position teleopearation architecture with the phantom in the loop, enabling telepresence in free-space and contact. The null space control guarantees that surgical kinematic constraints are fulfilled. Both task and posture control run active observers (AOBs) in Cartesian domain, taking into account force, velocity and position signals. Experiments with a D2M2 (direct drive medical manipulator) robot are presentedKeywords
This publication has 3 references indexed in Scilit:
- Real-time adaptive control for haptic telemanipulation with Kalman active observersIEEE Transactions on Robotics, 2006
- Data Fusion for Robotic Assembly Tasks Based on Human SkillsIEEE Transactions on Robotics, 2004
- A unified approach for motion and force control of robot manipulators: The operational space formulationIEEE Journal on Robotics and Automation, 1987