Achieving high precision laparoscopic manipulation through adaptive force control

In this paper, we present a new solution to laparoscopic manipulation based on force feedback control. This method allows to both explicitly control the forces applied to the patient through the trocar, and to precisely control the position of the surgical instrument. It does not require any geometrical model of the operative environment, nor any fine robot base placement prior to the instrument insertion. Different control strategies, involving different kinds of sensory equipments are proposed. They are experimentally validated on a laboratory apparatus.