Abstract
This paper presents a set of experiments which have been carried out in order to design a task oriented device, for teleoperated minimally invasive surgery. The workspace of the slave robot has been identified from the motion of an expert surgeon performing an anastomosis task thanks to the Nexus motion capture system. A system composed of master and slave robots as well as its controller has been designed, built and tested. This system provides to the surgeon a force feedback through a current loop of the actuators of the master device. Experiments are carried out and presented in order to show the feasibility of the control force feedback.
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Acknowledgments
This research is supported by the Poitou-Charentes region 2007–2013 (program project 10 Images and interactivities), in partnership with the European Union (FEDER/ERDF, European Regional Development Fund). This research is supported by ROBOTEX, the French national network of robotics platforms (Project Number ANR-10-EQPX-44-01).
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Saafi, H., Laribi, M.A., Zeghloul, S. (2016). Haptic Control Implementation of a 3-RRR Spherical Parallel Manipulator for Medical Uses. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_5
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DOI: https://doi.org/10.1007/978-3-319-23778-7_5
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