Controlling the interaction between robots and living soft tissues has become an important
issue as the number of robotic systems inside the operating room increases. Many …

A novel control method is proposed for master–slave telerobotic beating-heart surgery to
solve the challenges of rapid heart motion and oscillatory haptic feedback. In this paper, the …

A novel impedance-controlled teleoperation system is developed for robot-assisted tele-
echography of moving organs such as heart, chest and breast during their natural motions …

A novel switched-impedance control method is proposed and implemented for telerobotic
beating-heart surgery. Differing from cardiopulmonary-bypass-based arrested-heart surgery …

This chapter will explore certain applications of control engineering for improving the
performance of robotic and mechatronic systems for therapies and surgeries, we will …

梁帆* ① 孟晓风① 余旸② ① (北京航空航天大学仪器光电学院北京100091) ②
(德州理工大学Rawls 商学院美国德克萨斯拉伯克79409) 摘要: 心脏手术辅助机器人动态地消除 …

Flexible bevel-tipped needle steering has been an active research topic since the last
decade. However, most of the work presented so far performs flexible needle steering in …

In this paper, soft tissue is modeled by a mass–spring–damper system and tissue
deformations under the compression of surgical instruments are simulated. For this purpose …

在手术仿真、 手术规划、 医学诊断等众多医学应用中， 人体软组织力学特性建模都是一个关键
问题。 为了开发手术仿真中人体软组织大变形生物力学模型， 本文介绍了自适应准线性粘弹性 …

Cardiovascular disease is one of the leading causes of death worldwide. Conventional extra-
and intra-cardiac surgeries need the heart to be arrested and involve connecting the patient …