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Towards semi-autonomy in laparoscopic surgery through vision and force feedback control

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Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

This paper shows ongoing research results on the development of automatic control modes for robotized laparoscopic surgery. We show how both force feedback and visual feedback can be used in an hybrid control scheme to autonomously perform basic surgical subtasks. Preliminary experimental results on an example clamping tasks are given.

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References

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Author information

Authors and Affiliations

  1. University of Strasbourg I, Strasbourg

    Alexandre Krupa, Christophe Doignon, Jacques Gangloff & Michel de Mathelin

  2. IRCAD, France

    Luc Solert

  3. EDF R&D, France

    Guillaume Morel

Authors
  1. Alexandre Krupa
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  2. Christophe Doignon
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  3. Jacques Gangloff
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  4. Michel de Mathelin
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  5. Luc Solert
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  6. Guillaume Morel
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

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© 2001 Springer-Verlag Berlin Heidelberg

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Cite this paper

Krupa, A., Doignon, C., Gangloff, J., de Mathelin, M., Solert, L., Morel, G. (2001). Towards semi-autonomy in laparoscopic surgery through vision and force feedback control. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_20

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  • DOI: https://doi.org/10.1007/3-540-45118-8_20

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

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