A teleoperation system for micro-invasive brain surgery
نویسندگان
چکیده
This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages and drawbacks of using a general-purpose control architecture versus a simpler task-oriented architecture, from a point of view of stability and transparency. Experiments revealed that in spite of its simplicity, the task-oriented design allows an improvement in the trade-o between performance, transparency and stability requirements.
منابع مشابه
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عنوان ژورنال:
- Paladyn
دوره 1 شماره
صفحات -
تاریخ انتشار 2010