The presence of unknown physical interaction between the patients' body and surgical tool
in laparoscopic surgery requires a secure end-effector positioning while assuring a reliable …

An improved human-robot collaborative control scheme is proposed in a teleoperated
minimally invasive surgery scenario, based on a hierarchical operational space formulation …

In this paper, we propose a recurrent neural network (RNN) for the tracking control of
surgical robots while satisfying remote center-of-motion (RCM) constraints. RCM constraints …

In this paper, we propose a control framework for robot-assisted minimally invasive general
surgery (RA-MIS) for physical human–robot collaboration using a redundant 7-DoF serial …

This letter presents a novel flexible robotic endoscope with a constrained tendon-driven
continuum mechanism (CTCM) which is targeted for bariatric surgery. The robotic …

This paper proposes a manipulability optimization control of a 7-DoF robot manipulator for
Robot-Assisted Minimally Invasive Surgery (RAMIS), which at the same time guarantees a …

In this paper, we provide a new generalized kinematic formulation of the Remote Center of
Motion (RCM) constraint for serial robotic arms to be useful for implementation in torque …

A new autonomous camera-holder robotic system for Laparoscopic Surgery (LS) is
presented in this paper. In the proposed system, a 7-DoF collaborative robot holds and …

Robot-Assisted Surgery enhances vision and it can restore depth perception, but it
introduces the need for learning how to tele-operatively control both the surgical tools and …

In the context of mobile manipulator teleoperation, intuitive control interfaces are
fundamental not only to reduce the operator's workload, but also to improve the situational …