Magnus Annerstedt

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This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance(More)
Stability problems associated with haptics and robot control with obstacle avoidance are analyzed. Obstacle avoidance algorithms are revised to accomplish stable redesign using absolute stability and passivity theory. A modification of potential functions for haptic rendering and obstacle avoidance allowing stable operation for high stiffness is proposed.(More)
A suturing including knot tying is one of the more difficult operations to learn in telesurgical systems. Apprentice surgeons commonly suffer from suture breakage or knot failure. The difficulty, generally, comes from the absence of feedback of interaction force cues in a medical device (e.g., a needle and a thread). Even if there is haptic feedback to the(More)
Robotic surgery is growing in Europe. More and more specialities are adopting the technique in more and more countries. This has started a discussion on the need for a European forum for exchange of experience and ideas focusing on both education, training and science. On 18–20 April 2007 the Wrst multidisciplinary European meeting on robotic surgery was(More)
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