Nonlinear adaptive impedance control of virtual tool-tissue interaction for use in endoscopic sinus surgery simulation system

Abstract

In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surgery… (More)

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Cite this paper

@article{Ebrahimi2016NonlinearAI, title={Nonlinear adaptive impedance control of virtual tool-tissue interaction for use in endoscopic sinus surgery simulation system}, author={A. Ebrahimi and Soroush Sadeghnejad and Gholamreza Vossoughi and Hamed Moradi and Farazm Farahmand}, journal={2016 4th International Conference on Robotics and Mechatronics (ICROM)}, year={2016}, pages={66-71} }