A teleoperation system for micro-invasive brain surgery

This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient’s brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages an...

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Bibliographic Details
Published in:Paladyn (Warsaw) 2010-12, Vol.1 (4), p.198-203
Main Authors: Manganelli, Rudy, Chinello, Francesco, Formaglio, Alessandro, Prattichizzo, Domenico
Format: Article
Language:English
Subjects:
Artificial Intelligence
Behavioral Sciences
Computer Science
haptics
medical robots
Research Article
Robotics and Automation
teleoperation
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Summary:This paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient’s brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages and drawbacks of using a general-purpose control architecture versus a simpler task-oriented architecture, from a point of view of stability and transparency. Experiments revealed that in spite of its simplicity, the task-oriented design allows an improvement in the trade-off between performance, transparency and stability requirements.
ISSN:2080-9778
2081-4836
2081-4836
DOI:10.2478/s13230-011-0006-8