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- W1986955262 abstract "This paper proposes a control scheme for handling surgical instruments by a single port access surgery robotic platform. This scheme is based on a Hidden Markov Model for detecting interaction with tissue inside the abdomen and a Kalman filter measurement fusion method for estimating the fulcrum point using forces and torques exerted on several instruments. In order to perform movements taking into account the estimated fulcrum point, a parallel force-position control algorithm is proposed in order to minimize exerted forces in the patient's abdomen. At last, proposed control scheme has been implemented in a surgical robotics platform composed by two manipulators and experimental results are shown in order to demonstrate how it works." @default.
- W1986955262 created "2016-06-24" @default.
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- W1986955262 date "2014-08-01" @default.
- W1986955262 modified "2023-10-17" @default.
- W1986955262 title "Control scheme with tissue interaction detection for a single port access surgery robotic platform" @default.
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- W1986955262 doi "https://doi.org/10.1109/biorob.2014.6913862" @default.
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