Dual-scale robotic solution for middle ear surgery
Jae-Hun So,Brahim Tamadazte,Naresh Marturi,Jérôme Szewczyk,Jae-Hun So,Brahim Tamadazte,Naresh Marturi,Jérôme Szewczyk
This paper deals with the control of a redundant robotic system for middle ear surgery (i.e., cholesteatoma tissues removal). The targeted robotic system is a macro-micro-scale robot composed of a redundant seven degrees of freedom (DoFs) on which is attached a two DoFs robotized flexible fiberscope. Two different control architectures are proposed to achieve a defined surgical procedure to remove...
