Bilateral controllers for teleoperated percutaneous interventions : evaluation and improvements

  title={Bilateral controllers for teleoperated percutaneous interventions : evaluation and improvements},
  author={Laurent Barb{\'e} and Bernard Bayle and Michel F. de Mathelin},
  journal={2006 American Control Conference},
This paper presents two teleoperation control schemes developed in the context of percutaneous procedures in interventional radiology. The teleoperation task is characterized by a nonlinear interaction with the environment. The whole force feedback teleoperation structure is modeled to derive a practical, stable and transparent force feedback. The proposed control approach is based on the adaptation of standard force feedback teleoperation controllers. Position-position and force-position… CONTINUE READING
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