2A1-A01 Organ Model based Variable Impedance Control for Robot-assisted Needle Insertion : Compliant Motion for unpredicted Force

Abstract

This paper shows organ model based variable impedance control for robot assisted needle insertion. The method is made by the organ model adaptive identifier and the variable Impedance control. This new force control method for surgical robot realizes the precise position control and compliant motion for unpredicted force. The experimental result provide the practical effectiveness of the proposed approach.