Teleoperation concepts in minimal invasive surgery

In this paper, a teleoperating system for minimal invasive surgery is discussed. The focus lies on different control laws for the force feedback loop in telesurgery scenarios and the comparison of them. Suitable control schemes for position and force controlled minimal invasive medical robots combined with a force feedback input device without necessarily sensing the operators forces are presented. The control is extended with control parameter adaption in the force feedback control law with the estimation of the environment stiffness.