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

Authors :: Thoma, M.
Morari, M.
Rus, Daniela
Singh, Sanjiv
Krupa, Alexandre
Doignon, Christophe
Gangloff, Jacques
de Mathelin, Michel
Solert, Luc
Morel, Guillaume
Source :: Experimental Robotics VII; 2001, p189-198, 10p
Publication Year :: 2001
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. [ABSTRACT FROM AUTHOR]

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