Haptic feedback designs in teleoperation systems for minimal invasive surgery

I. Font, S. Weiland, M. Franken, M. Steinbuch, A.F. Rovers

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)
1 Downloads (Pure)

Abstract

One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs. Using the formalism of passivity, a robust controller has been designed, and is compared to a gain scheduled controller (LPV) which is adaptable for changes in the tissue characteristics.
Original languageEnglish
Title of host publication2004 IEEE international conference on systems, man and cybernetics : The Hague, Netherlands (SMC 2004) : vol. 3
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages2513-2518
ISBN (Print)0-7803-8566-7
DOIs
Publication statusPublished - 2004
Event2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands
Duration: 10 Oct 200413 Oct 2004

Conference

Conference2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
Abbreviated titleSMC 2004
Country/TerritoryNetherlands
CityThe Hague
Period10/10/0413/10/04

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