Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion

Introduction: Laparoscopic surgery often relies on a fixed Remote Center of Motion (RCM) for robot mobility control, which assumes that the patient’s abdominal walls are immobile. However, this assumption is inaccurate, especially in collaborative surgical environments. In this paper, we present a f...

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Autores principales:	Carlos Fontúrbel, Ana Cisnal, Juan Carlos Fraile-Marinero, Javier Pérez-Turiel
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	Frontiers Media S.A. 2023-04-01
Colección:	Frontiers in Robotics and AI
Materias:	robotic surgery laparoscopy force control collaborative robotics admittance control
Acceso en línea:	https://www.frontiersin.org/articles/10.3389/frobt.2023.1145265/full
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