BIO Web of Conferences 1
, 00066 (2011)
Force Control for Robotic-Assisted Surgery Based on
Viscoelastic Tissue Model
Pedro Moreira*, Chao Liu*, Nabil Zemiti* and Philippe Poignet*
Université Montpellier 2, LIRMM,
E-mail: email@example.com, firstname.lastname@example.org,
Usually, force control algorithms developed for medical applications use a basic
elastic model to represent the interaction between the robot and soft tissue. It
is known that soft tissues are complex structures with viscoelastic properties
as well as nonheterogeneity and hysteresis behavior.
This work intends to improve the performance and the robustness of a force
control scheme using a more realistic interaction model. The proposed force
control is a model based algorithm using a Kelvin-Boltzmann viscoelastic model
as the interaction model.
© Owned by the authors, published by EDP Sciences,
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