Teleoperation concepts in minimal invasive surgery

被引：86

作者：

Preusche, C ^{[1
]}

Ortmaier, T ^{[1
]}

Hirzinger, G ^{[1
]}

机构：

[1] German Aerosp Ctr, DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany

来源：

CONTROL ENGINEERING PRACTICE | 2002年 / 10卷 / 11期

关键词：

telecontrol; force feedback; force control; adaptive control; medical systems;

D O I：

10.1016/S0967-0661(02)00084-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2002 Published by Elsevier Science Ltd.

引用

页码：1245 / 1250

页数：6

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