Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery

Rui Cortesão; Walid Zarrad; Philippe Poignet; Olivier Company; Etienne Dombre

doi:10.1109/IROS.2006.282168

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Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery

Rui Cortesão, Walid Zarrad, Philippe Poignet, Olivier Company et Etienne Dombre

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.454-459

IROS: Intelligent Robots and Systems (Beijing, China, 09/10/2006–15/10/2006)

10/2006

DOI: https://doi.org/10.1109/IROS.2006.282168

Résumé

Medical robotics

Haptics

Active observers

Task space

Null space

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 presented.

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Détails

Titre: Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery
Créateurs - sans rôle: Rui Cortesão - Institute for Systems Engineering and Computers
Walid Zarrad - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Philippe Poignet - Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
Olivier Company - Université de Montpellier
Etienne Dombre - Université de Montpellier
Détails de publication: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.454-459
Colloque: IROS: Intelligent Robots and Systems (Beijing, China, 09/10/2006–15/10/2006)
Identifiants: 9945844209311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: lirmm-00119815