4 papers
Teleoperation of Continuum Instruments: Task-Priority Analysis of Linear Angular Command Interplay
Ehsan Nasiri, Long Wang
This paper addresses the challenge of teleoperating continuum instruments for minimally invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic formulati…
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…
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…
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.,…