Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model

Publisher: Edp Sciences

E-ISSN: 2117-4458|1|issue|00066-00066

ISSN: 2117-4458

Source: Bio Web of conference, Vol.1, Iss.issue, 2011-12, pp. : 00066-00066

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Abstract

Usually, force control algorithms developed for medical applications use a basic elastic model to represent the interaction between the robot and soft tissue. It is known that soft tissues are complex structures with viscoelastic properties as well as nonheterogeneity and hysteresis behavior.