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Control Methods for a Teleoperated Endoscope Robot

  • Oğulcan IşıtmanEmail author
  • Mehmet İsmet Can Dede
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

In this study, control of a endoscope robot for the pituitary gland surgery is presented. This co-worker robot has non-backdrivable actuation system with external brakes on the actuators. Since it is required to move in a constrained environment, which is the inside the nostrils in this case, modifications are required for the motion controller. In order to provide safe procedure, the maximum force and torque limits are defined for the real surgical case by using human cadaver head. By considering these limits and application specific requirements, a compliance controller is proposed and experimentally tested.

Keywords

compliant control endoscope robot minimally-invasive surgery pituitary gland surgery 

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Notes

Acknowledgement

This work is supported by The Scientific and Technological Research Council of Turkey via grant number 115E726.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.İzmir Institute of TechnologyİzmirTurkey

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