Safe endoscope holding in minimally invasive surgery: zero stiffness and adaptive weight compensation
Jesus Mago,François Louveau,Marie-Aude Vitrani,Guillaume Morel,Jesus Mago,François Louveau,Marie-Aude Vitrani,Guillaume Morel
One of the major functions brought by robots in Minimally Invasive Surgery is endoscope holding. This consists, for the user, in placing the camera at a desired location which the robot will maintain still once he/she releases it. This behavior is usually achieved with rigid position servoing, leading to possibly high forces generated and safety issues. Model-based weight compensation is an altern...
