Dynamic soft tissue identification plays an important role in robotic‐assisted minimally
invasive surgery to achieve realistic force feedback for precise and safe surgical operations …

Real-time soft tissue characterization is significant to robotic assisted minimally invasive
surgery for achieving precise haptic control of robotic surgical tasks and providing realistic …

In minimally invasive surgery (MIS) the continuously increasing use of robotic devices allows
surgical operations to be conducted more precisely and more efficiently. Safe and accurate …

This paper is concerned with the contact force estimation problem of robot manipulators
based on imperfect dynamic models of the manipulator and the contact force. To handle the …

This work presents a “smart” robotic surgical grasper capable of identifying tissue during the
early stages of a grasp, allowing automated prevention of grasper-induced tissue crush …

In robot control with physical interaction, like robot-assisted surgery and bilateral
teleoperation, the availability of reliable interaction force information has proved to be …

Accurate identification of manipulator dynamics parameters is crucial for achieving precise
control and optimal performance in various robotic applications. Existing methods primarily …

Realistic modelling of human soft tissue is very important in medical applications. This paper
proposes a novel method by dynamically incorporating soft tissue characterisation in the …

The present paper proposes a neural network-based adaptive region-tracking control
strategy for a flexible-joint robot manipulator subjected to region constraints. The developed …

Most of existing methods for force identification assume the force locations to be known a
priori. In this paper, we propose a novel recursive algorithm, named sparse Kalman filter, to …