Nonlinear Soft Tissue Models and Force Control for Medical Cyber-Physical Systems

Arpad Takacs, Peter Galambos, Peter Pausits, I. Rudas, Tamas Haidegger

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

10 Citations (Scopus)

Abstract

Robotic telesurgery application could greatly benefit from force control, providing safe and stable application even under time delays and other disturbing conditions. This paper describes a soft tissue model which can be integrated into the control loop of a teleoperational master-slave robot. Three alternations of the Wiechert model have been implemented and matched against experimental data. A nonlinear model has been proposed to realistically model the properties of liver-Type tissues. Based on the model, adequate force control can be designed in the future.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1520-1525
Number of pages6
ISBN (Print)9781479986965
DOIs
Publication statusPublished - Jan 12 2016
EventIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 - Kowloon Tong, Hong Kong
Duration: Oct 9 2015Oct 12 2015

Other

OtherIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
CountryHong Kong
CityKowloon Tong
Period10/9/1510/12/15

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Keywords

  • Force Control
  • Minimal Invasive Surgery
  • Teleoperation
  • Tissue modelling
  • TP Model Transformation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Energy Engineering and Power Technology
  • Information Systems and Management
  • Control and Systems Engineering

Cite this

Takacs, A., Galambos, P., Pausits, P., Rudas, I., & Haidegger, T. (2016). Nonlinear Soft Tissue Models and Force Control for Medical Cyber-Physical Systems. In Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 (pp. 1520-1525). [7379401] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2015.269