IEEE - Institute of Electrical and Electronics Engineers, Inc. - Comparison of transient performance in the control of soft tissue grasping

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author(s): Xiaolong Yu ; H.J. Chizeck ; B. Hannaford
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2007
Conference Location: San Diego, CA, USA
Conference Date: 29 October 2007
Page(s): 1,809 - 1,814
ISBN (CD): 978-1-4244-0912-9
ISBN (Paper): 978-1-4244-0911-2
DOI: 10.1109/IROS.2007.4399482
Regular:

In robot-assisted surgery, surgical tools interact with tissues that have nonlinear mechanical properties. For situations where a pre-specified trajectory of tool positions (or applied forces) is... View More

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