Control design issues for a microinvasive neurosurgery teleoperator system

Semmoloni, J.; Manganelli, R.; Formaglio, A.; Prattichizzo, Domenico

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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.

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Titolo:	Control design issues for a microinvasive neurosurgery teleoperator system
Autori:	J. SEMMOLONI R. MANGANELLI A. FORMAGLIO PRATTICHIZZO, DOMENICO mostra contributor esterni nascondi contributor esterni
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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