3 papers
cs.RO2024
Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control
Ehsan Nasiri, Srikarran Sowrirajan, Long Wang
This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration o…
cs.RO2024
Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications
Ehsan Nasiri, Long Wang
This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing…
cs.RO2024
Admittance Control for Adaptive Remote Center of Motion in Robotic Laparoscopic Surgery
Ehsan Nasiri, Long Wang
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g.,…