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A Multilateral Impedance-Controlled System for Haptics-Enabled Surgical Training and Cooperation in Beating-Heart Surgery
Download2019-01-01
In this paper, an impedance-controlled multi-master/single-slave telerobotic system is developed for haptics-enabled surgical training and cooperation in beating-heart surgery. This system not only can enable automatically motion compensation for the beating heart’s motion as well as...
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2018-01-01
Lingbo Cheng and Mahdi Tavakoli
A novel control method is proposed for master-slave telerobotic beating-heart surgery to solve the challenges of rapid heart motion and oscillatory haptic feedback. In this paper, the ultrasound imaging-based control algorithms are used to make the slave robot compensate for the heart motion...