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A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

  • Published:2022-06 Issue: Volume:152 Page:104073
  • ISSN:0921-8890
  • Container-title:Robotics and Autonomous Systems
  • language:en
  • Short-container-title:Robotics and Autonomous Systems

Author:

Kastritsi TheodoraORCID,Doulgeri Zoe

Publisher

Elsevier BV

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference43 articles.

1. Commande Dynamique Dans L’espace Opérationnel Des Robots Manipulateurs En Présence D’obstacles;Khatib,1980

2. A passive phri controller for assisting the user in partially known tasks;Papageorgiou;IEEE Trans. Robot.,2020

3. An impedance control modification guaranteeing compliance strictly within preselected spatial limits;Theodorakopoulos,2015

4. Vision assisted control for manipulation using virtual fixtures: Experiments at macro and micro scales;Bettini,2002

5. Vision-assisted control for manipulation using virtual fixtures;Bettini;IEEE Trans. Robot.,2004

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Finding the Optimal Incision Point in Robotic Assisted Surgery;2023 IEEE International Conference on Robotics and Automation (ICRA);2023-05-29

2. Enforcing Constraints for Dynamic Obstacle Avoidance by Compliant Robots;2023 IEEE International Conference on Robotics and Automation (ICRA);2023-05-29

3. Remote Center of Motion Based on Null Space and Virtual Joints in a Surgical Robotics Research Platform;Advances in Service and Industrial Robotics;2023

4. A passive control framework for a bilateral leader-follower robotic surgical setup imposing RCM and active constraints;2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2022-10-23
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