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2015IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems(IROS)

CongressCenterHamburg

Sept28-Oct2,2015.Hamburg,Germany

ForceFeedbackEnhancementforSoftTissueInteractionTasksin

CooperativeRoboticSurgery

E.Beretta,F.Nessi,G.FerrignoandE.DeMomi

-Surgeonscanbenefitfromthecooperationunderneathtissuemustbeguaranteedstable,filteringhand

witharoboticassistantduringtherepetitiveexecutionoftremors,andsafe,preventinganydamagetothetissuedueto

precisetargetingtasksonsofttissues,suchasduringindentation.Also,ifpredictableand/orunpredictablemotions

braincortexstimulationproceduresinopen-skullofthesoftorganofinterestoccurs,e.g.respectivelydueto

neurosurgery.Position-basedforce-to-motioncontrolbreathingandpulsatility[4]and/ortoepilepticseizures

schemesmaynotbesuitablesolutiontoprovidetheduringbraincortexstimulationinneurosurgery[5],the

roboticassistantshouldbeabletocompensatethemandreact

manipulatorwiththehighcompliancedesirableduring

safely.

guidancealongwidetrajectories.Anewtorquecontroller

withnon-linearforcefeedback(FFE)ispresentedtoTouchinteractionsandphysicalcontactsarecritical

provideaugmentedhapticperceptiontotheoperator,factorsduringthemanipulationoftissue/objects.Haptic

du