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.
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.
Control design issues for a microinvasive neurosurgery teleoperator system
PRATTICHIZZO, DOMENICO
2009-01-01
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.
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https://hdl.handle.net/11365/4999
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