Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery

Author

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

Author_Institution

Inst. of Syst. & Robotics, Coimbra Univ.

fYear

2006

fDate

Oct. 2006

Firstpage

454

Lastpage

459

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 presented

Keywords

manipulators; medical robotics; position control; surgery; active observers; direct drive medical manipulator; haptic control design; haptic feedback; operational space control; position-position teleoperation architecture; posture control; robotic-assisted minimally invasive surgery; Control design; Control systems; Feedback; Haptic interfaces; Imaging phantoms; Medical control systems; Minimally invasive surgery; Null space; Orbital robotics; Robot control; Medical robotics; active observers; haptics; null space; task space;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282168

Filename

4059144