IEEE - Institute of Electrical and Electronics Engineers, Inc. - Parallel force-position control scheme with fuzzy gain tuning for single port laparoscopic surgery

2013 13th International Conference on Control, Automaton and Systems (ICCAS 2013)

Author(s): Carlos J. Perez-del-Pulgar ; V. F. Munoz ; Juan J. Velasco ; Ruben Gomez
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2013
Conference Location: Gwangju, South Korea
Conference Date: 20 October 2013
Page(s): 101 - 106
ISBN (CD): 978-89-93215-05-2
ISSN (Paper): 2093-7121
DOI: 10.1109/ICCAS.2013.6703871
Regular:

This paper proposes a navigation method for manipulators which handle a surgical instrument or robotic platform introduced through a SILS multiport trocar. This method is based on a parallel... View More

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