Haptic control design for robotic-assisted minimally invasive surgery

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 454-459

  Cortesão, Rui ^a   Zarrad, Walid ^b   Poignet, Philippe ^b   Company, Olivier ^b   Dombre, Etienne ^b  

^a UNIVERSITY OF COIMBRA   (Portugal)

^b LIRMM   (France)

Author keywords

Active observers; Haptics; Medical robotics; Null space; Task space

Indexed keywords

BIOMEDICAL ENGINEERING; HAPTIC INTERFACES; MANIPULATORS; POSITION CONTROL; REMOTE CONTROL; ROBOT APPLICATIONS;

ACTIVE OBSERVERS; CARTESIAN DOMAIN; MEDICAL ROBOTICS; NULL SPACE; TASK SPACE;

NONINVASIVE MEDICAL PROCEDURES;

EID: 34250613176     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282168     Document Type: Conference Paper

References (11)

1. K. J. Åström and B. Wittenmark. Computer Controlled Systems: Theory and Design. Prentice Hall, 1997.
2. M. Benoit, M. Briot, H. Donnarel and. A. Liégeois, M. Meyer, and M. Renaud. Synthèse de la comande dynamique d'un télé opérateur redondant. RAIRO, pages 89-103, 1975.
3. S. M. Bozic. Digital and Kalman Filtering. Edward Arnold, London, 1979.
4. R. Cortesão. Kalman Techniques for Intelligent Control Systems: Theory and Robotic Experiments. PhD thesis, University of Coimbra, 2003.
5. R. Cortesão, R. Koeppe, U. Nunes, and G. Hirzinger. Data fusion for robotic assembly tasks based on human skills. IEEE Trans. on Robotics, 20(6):941-952, December 2004.
6. R. Cortesão, J. Park, and O. Khatib. Real-time adaptive control for haptic tele-manipulation with kalman active observers. IEEE Trans. on Robotics, 2006. (accepted).
7. A. Jazwinsky. Stochastic Processes and Filtering Theory, volume 64 of Mathematics In Science and Engineering. Academic Press, 1970. (Edited by R. Bellman).
8. W. Khalil and E. Dombre. Modeling, Identification and Control of Robots. Hermes Penton Ltd, 2002.
9. O. Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. Int. J. on Robotics and Automation, 3(1):43-53, February 1987.
10. M. Michelin, P. Poignet, and E. Dombre. Dynamic task / posture decoupling for minimally invasive surgery motions. In International Symposium on Experimental Robotics (ISER), Singapore, 2004.
11. M. Spong and M. Vidyasagar. Robot Dynamics and Control. John Wiley & Sons, 1989.