Force sensing and force control for surgical robots

Tamás Haidegger, Balázs Benyö, Levente Kovács, Zoltán Benyö

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)

Abstract

Surgical robotics is one of the most dynamically developing areas of biomedical engineering. In the past few decades, Computer Integrated Interventional Medicine has gained significance internationally in the field of surgical procedures. More recently, mechatronic devices have been used for prostatectomy, neurosurgery, nephrectomy, cholecystectomy, orthopedics and radiosurgery. The paper both introduces surgical robotics and the basics of force control. It also provides a review on the different algorithms and control paradigms developed for interventional systems. The application of force sensors and force based control algorithms gives a natural flextension to these systems allowing for higher quality human-machine interaction, more realistic sensory feedback and telepresence. Precise and effective control of robotic devices in a changing environment can be realized with force control. Beyond, it can apply important safety features. Different methods are presented to overcome the physical limitations of instrument sensorization, and force control algorithms tailored to medical robotic applications.

Original languageEnglish
Title of host publication7th IFAC Symposium on Modelling and Control in Biomedical Systems (including Biological Systems) MCBMS'09 - Proceedings
Pages401-406
Number of pages6
EditionPART 1
DOIs
Publication statusPublished - Dec 1 2009
Event7th IFAC Symposium on Modelling and Control in Biomedical Systems (including Biological Systems) MCBMS'09 - Aalborg, Denmark
Duration: Aug 12 2009Aug 14 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume7
ISSN (Print)1474-6670

Other

Other7th IFAC Symposium on Modelling and Control in Biomedical Systems (including Biological Systems) MCBMS'09
CountryDenmark
CityAalborg
Period8/12/098/14/09

Keywords

  • Force control
  • Force feedback
  • Minimally Invasive Surgery
  • Surgical robotics
  • Teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Haidegger, T., Benyö, B., Kovács, L., & Benyö, Z. (2009). Force sensing and force control for surgical robots. In 7th IFAC Symposium on Modelling and Control in Biomedical Systems (including Biological Systems) MCBMS'09 - Proceedings (PART 1 ed., pp. 401-406). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 7, No. PART 1). https://doi.org/10.3182/20090812-3-DK-2006.0035