Task-Space and Null-Space Control Design for Robotic-Assisted Minimally Invasive Surgery
نویسندگان
چکیده
This paper discusses the control design of roboticassisted minimally invasive surgery (MIS) with haptic feedback. The operational space control has a position-position telemanipulation architecture with the phantom in the loop, enabling telepresence in free-space and contact. The null space control guarantees that surgical kinematic constraints are fulfilled. Both task and posture control run active observers (AOBs) in Cartesian domain, taking into account force, velocity and position signals. Experiments with a D2M2 (direct drive medical manipulator) robot are presented1.
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تاریخ انتشار 2007