A teleoperation system for micro-invasive brain surgery

Paladyn: Journal of Behavioral Robotics

Manganelli Rudy¹  Formaglio Alessandro¹  Chinello Francesco¹  Prattichizzo Domenico¹ 

[1] Department of Information Engineering, University of Siena, Italy;

关键词: teleoperation;    haptics;    medical robots;   

DOI  :  10.2478/s13230-011-0006-8

来源: DOAJ

【 摘 要 】

This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages and drawbacks of using a general-purpose control architecture versus a simpler task-oriented architecture, from a point of view of stability and transparency. Experiments revealed that in spite of its simplicity, the task-oriented design allows an improvement in the trade-off between performance, transparency and stability requirements.

【 授权许可】

Unknown