This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages and drawbacks of using a general-purpose control architecture versus a simpler task-oriented architecture, from a point of view of stability and transparency. Experiments revealed that in spite of its simplicity, the task-oriented design allows an improvement in the trade-oɼ between performance, transparency and stability requirements.
R., M., F., C., A., F., Prattichizzo, D. (2011). A teleoperation system for micro-invasive brain surgery. PALADYN, 1(4), 198-203 [10.2478/s13230-011-0006-8].
A teleoperation system for micro-invasive brain surgery
PRATTICHIZZO, DOMENICO
2011-01-01
Abstract
This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages and drawbacks of using a general-purpose control architecture versus a simpler task-oriented architecture, from a point of view of stability and transparency. Experiments revealed that in spite of its simplicity, the task-oriented design allows an improvement in the trade-oɼ between performance, transparency and stability requirements.
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https://hdl.handle.net/11365/28226
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