Control Strategy for Direct Teaching of Non-Mechanical Remote Center Motion of Surgical Assistant Robot with Force/Torque Sensor
This paper presents a control strategy that secures both precision and manipulation sensitivity of remote center motion with direct teaching for a surgical assistant robot. Remote center motion is an essential function of conventional laparoscopic surgery, and the most intuitive way a surgeon manipu...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-05-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/9/4279 |