A passive control framework for a bilateral leader-follower robotic surgical setup imposing RCM and active constraints
Theodora Kastritsi,Zoe Doulgeri,Theodora Kastritsi,Zoe Doulgeri
We consider the problem of controlling a bilateral leader-follower robotic surgical set-up to allow kinesthetic haptic feedback to the user when the instrument approaches a forbidden area like sensitive organs arteries or veins that should be protected from injuries during surgery. The leader is a haptic device while the follower is a general purpose manipulator holding an elongated tool with an a...
