Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1245-1250 |
| Number of pages | 6 |
| Journal | Control engineering practice |
| Volume | 10 |
| Issue number | 11 |
| DOIs | |
| Publication status | Published - 4 Jun 2002 |
| Externally published | Yes |
Keywords
- Adaptive control
- Force control
- Force feedback
- Medical systems
- Telecontrol
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
- Applied Mathematics
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