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EnglishThis paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists in remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating the applicability of an existing general-purpose control architecture, addressing its advantages and drawbacks with respect to a simple task-oriented architecture, specifically designed for the target application. Preliminary experiments revealed that the task-oriented design can better fit the application requirements.
J., S., R., M., A., F., & Prattichizzo, D. (2009). Control design issues for a microinvasive neurosurgery teleoperator system. In Proc. International Conference on Advanced Robotics, ICAR 2009 (pp.1-5). IEEE.
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| Titolo: | Control design issues for a microinvasive neurosurgery teleoperator system |
| Autori: | |
| Anno: | 2009 |
| Citazione: | J., S., R., M., A., F., & Prattichizzo, D. (2009). Control design issues for a microinvasive neurosurgery teleoperator system. In Proc. International Conference on Advanced Robotics, ICAR 2009 (pp.1-5). IEEE. |
| Abstract: | This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists in remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating the applicability of an existing general-purpose control architecture, addressing its advantages and drawbacks with respect to a simple task-oriented architecture, specifically designed for the target application. Preliminary experiments revealed that the task-oriented design can better fit the application requirements. |
| Handle: | http://hdl.handle.net/11365/4999 |
| ISBN: | 9781424448555 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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http://hdl.handle.net/11365/4999
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