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Authors: B. Cagneau 1 ; D. Bellot 1 ; G. Morel 1 ; N. Zemiti 2 and G. D’Agostino 3

Affiliations: 1 Institut des Systèmes Intelligents et Robotique, France ; 2 TIMC-IMAG Laboratory, France ; 3 Università Federico II di Napoli, Facoltà di Ingegneria dell’Automazione, Italy

Keyword(s): Force control, robotic surgery, cobotic, augmented comanipulation.

Related Ontology Subjects/Areas/Topics: Biomedical Engineering ; Biomedical Instruments and Devices ; Biorobotics

Abstract: This paper presents a control scheme for augmented comanipulation with force feedback in robotic surgery. This approach aims at increasing the surgeon’s dexterity. The surgeon manipulates a handle mounted on the robot which manipulates the instrument. The control law ensures that the instrument applies on the organ the same forces that the surgeon applies on the handle but decreased by a scale factor. As a consequence, the robotic device provides the surgeon with an augmented sensation of the interaction forces between the instrument and the organ. The proposed control law does not require any knowledge of the environment. This control scheme is proven stable thanks to a passivity study. Indeed, passivity analysis is a useful tool for the stability analysis of a robot interacting with an unknown environment. Experimental results are presented on a robot dedicated to minimally invasive surgery.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Cagneau, B.; Bellot, D.; Morel, G.; Zemiti, N. and D’Agostino, G. (2008). AUGMENTED COMANIPULATION IN ROBOTIC SURGERY. In Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES; ISBN 978-989-8111- 17-3; ISSN 2184-4305, SciTePress, pages 47-54. DOI: 10.5220/0001053600470054

@conference{biodevices08,
author={B. Cagneau. and D. Bellot. and G. Morel. and N. Zemiti. and G. D’Agostino.},
title={AUGMENTED COMANIPULATION IN ROBOTIC SURGERY},
booktitle={Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES},
year={2008},
pages={47-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001053600470054},
isbn={978-989-8111- 17-3},
issn={2184-4305},
}

TY - CONF

JO - Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES
TI - AUGMENTED COMANIPULATION IN ROBOTIC SURGERY
SN - 978-989-8111- 17-3
IS - 2184-4305
AU - Cagneau, B.
AU - Bellot, D.
AU - Morel, G.
AU - Zemiti, N.
AU - D’Agostino, G.
PY - 2008
SP - 47
EP - 54
DO - 10.5220/0001053600470054
PB - SciTePress