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Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery

One of the significant challenges of moving from manual to robot-assisted retinal surgery is the loss of perception of forces applied to the sclera (sclera forces) by the surgical tools. This damping of force feedback is primarily due to the stiffness and inertia of the robot. The diminished percept...

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Bibliographic Details
Published in:IEEE Int Conf Robot Autom
Main Authors: Ebrahimi, Ali, Patel, Niravkumar, He, Changyan, Gehlbach, Peter, Kobilarov, Marin, Iordachita, Iulian
Format: Artigo
Language:Inglês
Published: 2019
Subjects:
Online Access:https://ncbi.nlm.nih.gov/pmc/articles/PMC7198060/
https://ncbi.nlm.nih.gov/pubmed/32368362
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/ICRA.2019.8793658
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