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Most of existing works on the tubes design optimization of concentric-tube robot (CTR) do not include the elastic stability in the optimization criteria. The only work which formulates the elastic stability in the objective function is based on scalarization method which is used in existing multi-objective design optimization. The objective function is formed by a set of weighted objective functions...
In this paper we propose a modeling method for the interaction impedance of a remote soft tissue that contains quasi-periodic physiological motion disturbance. Through this study, it is shown that the interaction with such environment is not passive and its influence should be considered in the teleoperator design. The interaction impedance depends not only on the soft tissue impedance but also on...
Miniaturized surgical robotic system presents promising trend for reducing invasiveness during operation. However, cables used for power and communication may affect its performance. In this paper we chose Zigbee wireless communication as a means to replace communication cables for miniaturized surgical robot. Nevertheless, time delay caused by wireless communication presents a new challenge to performance...
Many medical applications can benefit from the new technology of concentric-tube robot (CTR) due to its miniature size, superior steerability, and controllability of the end tool. However, the kinematic modeling of CTR is challenging because of complicated physical phenomena caused by the elasticity interaction between tubes. Existing control methods of CTR are based on inverse kinematics calculation...
This paper presents the control architecture and the first performance evaluation results of a novel and highly-dexterous 18 degrees of freedom (DOF) miniature master/slave teleoperated robotic system called SPRINT (Single-Port la-paRoscopy bimaNual roboT). The system was evaluated in terms of positioning accuracy, repeatability, tracking error during local teleoperation and end-effector payload....
In this paper, we discuss the design of an adaptive control system for robot-assisted surgery with haptic feedback. Through a haptic device, the surgeon teleoperates the medical instrument in free space, fixed on a remote robot or in contact. In free space, the surgeon feels the motion of the robot. In the present paper, we evaluated the performance of the controller on viscoelastic tissue, modeled...
Current cardiac surgery faces the challenging problem of heart beating motion even with the help of mechanical stabilizer which makes delicate operation on the heart surface difficult. Motion compensation methods for robotic-assisted beating heart surgery have been proposed recently in literature, but research on force control for such kind of surgery has hardly been reported. Moreover, the viscoelasticity...
The past decades have witnessed the notable development of minimally invasive surgery (MIS). The benefits of this modality of surgery for patients are numerous, shortening convalescence, reducing trauma and surgery costs. In this context, robotic assistance aims to make the surgical act more intuitive and safer. In the domain of cardiac MIS, heartbeat and respiration represent two important sources...
This paper introduces some issues related to the development of robotics for endoluminal surgery from control point of view. Endoluminal surgery are incisionless procedures performed through natural orifices within the natural pathways. New devices are then required to achieve these new surgical procedures. Besides the development of new devices, control issues arise in both technological and theoretical...
With the advent of new applications in cardiac robotic-assisted minimally invasive surgery (MIS), a demand for the design of efficient motion compensation systems was created. In this context, vision-based techniques seem to be a practical way to retrieve the motion of the beating heart since they do not require the introduction of additional sensors in the limited workspace. In this paper, we propose...
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