SURGICAL
Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model
Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet
- Year
- 2011
- Citations
- 5
- Access
- Open access
Abstract
Usually, force control algorithms developed for medical applications use a basic elastic model to represent the interaction between the robot and soft tissue. It is known that soft tissues are complex structures with viscoelastic properties as well as nonheterogeneity and hysteresis behavior.
Keywords
ViscoelasticityRobotSoft tissueComputer scienceControl (management)HysteresisSurgical robotMaterials scienceBiomedical engineeringControl engineering
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