Methods and mechanisms for contact feedback in a robot-assisted minimally invasive environment
โ Scribed by M. Tavakoli; A. Aziminejad; R. V. Patel; M. Moallem
- Publisher
- Springer
- Year
- 2006
- Tongue
- English
- Weight
- 599 KB
- Volume
- 20
- Category
- Article
- ISSN
- 0930-2794
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
## Abstract ## Background Computerโassisted surgery (CAS) systems are currently used in only a few surgical specialties: ear, nose and throat (ENT), neurosurgery and orthopaedics. Almost all of these systems have been developed as dedicated platforms and work on rigid anatomical structures. The de
In this paper the problem of regulating force and position for a robot manipulator in contact with an elastically compliant environment is considered. In the framework of parallel force/position control, an output feedback regulator with gravity compensation and desired force feedforward is proposed
## Abstract ## Background Manual manipulation of the camera is a major source of difficulties encountered by surgeons while performing minimally invasive laparoscopic surgery. ## Methods A survey of laparoscopic procedures and a review of existing active and passive holders were conducted. Based