Contribution to the design of control laws for bilateral teleoperation with a view to applications in minimally invasive surgery

Contribution to the design of control laws for bilateral teleoperation with a view to applications in minimally invasive surgery

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Teleoperation systems have been used in the operating rooms for more than a decade. However, the lack of force feedback in commercially available systems still raises safety issues and forbids surgical gestures like palpation. Although force feedback has already been implemented in experimental setu...

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Bibliographic Details
Main Author: Delwiche, Thomas
Other Authors: Kinnaert, Michel
Format: Doctoral Thesis
Language:fr
Published: Universite Libre de Bruxelles 2009
Subjects:
Mécanique
Sciences de l'ingénieur
Surgical instruments and apparatus
Robotics in medicine
Surgical robots
Laparoscopic surgery
Chirurgie > Appareils et matériel
Robotique en médecine
Robots chirurgiens
Chirurgie laparoscopique
teleoperation
medical devices
friction compensation
disturbance observers
robust control
Online Access:http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210223

Internet

http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210223

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