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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.
http://hdl.handle.net/11365/4999| Titolo: | Control design issues for a microinvasive neurosurgery teleoperator system |
| Autori interni: | PRATTICHIZZO, DOMENICO |
| Anno: | 2009 |
| 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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