Bilateral controllers for teleoperated percutaneous interventions : evaluation and improvements

L. Barbe, B. Bayle, M. de Mathelin
2006 2006 American Control Conference  
This paper presents two teleoperation control schemes developed in the context of percutaneous procedures in interventional radiology. The teleoperation task is characterized by a non linear interaction with the environment. The whole force feedback teleoperation structure is modeled to derive a practical, stable and transparent force feedback. The proposed control approach is based on the adaptation of standard force feedback teleoperation controllers. Position-position and forceposition
more » ... forceposition structures are improved by local compensation loops that include an a priori knowledge of the interactions between the slave robot and the environment made of soft tissues. This contribution allows to improve position tracking capabilities in spite of the nonlinearity of the interaction.
doi:10.1109/acc.2006.1657212 fatcat:d4utaliduvh6hjjnruhnbmzumy