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Commande en Effort des Systèmes Robotiques pour la Chirurgie Mini-Invasive

Abstract : In order to provide a minimally invasive surgical robot with force feedback, two major difficulties shall be addressed. Firstly, a metrology problem occurs, as it is technologically difficult to directly measure the distal interaction, inside the patient, due to sterilization and size constraints. Secondly, controlling interactions that exhibit unknown geometry and dynamics (as the instrument may contact organs, surgeon, or other instruments) in the particular case where the fulcrum point imposes a kinematic constraint, induces particular difficulties. Within this thesis, these two problems are coped with by the development of an original robotic system, that involves:

- a robotic arm with a spherical kinematics,
- a force sensor placed outside the patient, which still allows for a fine estimation of the organ-instrument interaction inside the patient,
- a force controller which passivity is ensured for any interactions, and which is implemented considering different control modes (explicit feedback, impedance control, teleoperation).

A laboratory prototype is developed and used for the validation of all the technological and methodological propositions. Experiments include in vivo validations, from simple tasks to the assistance to a complete cholecystectomy operation.
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Contributor : Nabil Zemiti <>
Submitted on : Tuesday, March 7, 2006 - 9:52:57 AM
Last modification on : Wednesday, December 9, 2020 - 3:13:11 PM
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  • HAL Id : tel-00011767, version 1


Nabil Zemiti. Commande en Effort des Systèmes Robotiques pour la Chirurgie Mini-Invasive. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2005. Français. ⟨tel-00011767⟩



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