Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 1245-1250 |
| Seitenumfang | 6 |
| Fachzeitschrift | Control engineering practice |
| Jahrgang | 10 |
| Ausgabenummer | 11 |
| Publikationsstatus | Veröffentlicht - 4 Juni 2002 |
| Extern publiziert | Ja |
Abstract
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.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Angewandte Informatik
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Mathematik (insg.)
- Angewandte Mathematik
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in: Control engineering practice, Jahrgang 10, Nr. 11, 04.06.2002, S. 1245-1250.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - Teleoperation concepts in minimal invasive surgery
AU - Preusche, Carsten
AU - Ortmaier, Tobias
AU - Hirzinger, Gerd
PY - 2002/6/4
Y1 - 2002/6/4
N2 - 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.
AB - 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.
KW - Adaptive control
KW - Force control
KW - Force feedback
KW - Medical systems
KW - Telecontrol
UR - http://www.scopus.com/inward/record.url?scp=0036872557&partnerID=8YFLogxK
U2 - 10.1016/S0967-0661(02)00084-9
DO - 10.1016/S0967-0661(02)00084-9
M3 - Article
AN - SCOPUS:0036872557
VL - 10
SP - 1245
EP - 1250
JO - Control engineering practice
JF - Control engineering practice
SN - 0967-0661
IS - 11
ER -