Eye-RHAS manipulator: From kinematics to trajectory control

Abedloo, Ebrahim; Gholami, Soheil; Taghirad, Hamid D.

doi:10.1109/icrom.2015.7367761

Cited by 2 publications

(3 citation statements)

References 7 publications

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Section: Available Technologiesmentioning

confidence: 99%

“…In Table 5, some controller algorithms of eye surgical robots are compared. Briefly, the controllers 64,68,146,150 have been implemented experimentally in the real robots and have been tested only in simulation. [147][148][149]151 The sclera force plays a fundamental role in robotic eye surgery, and this force is controlled by Adaptive Norm Control (ANC) and Adaptive Component Control (ACC) methods.…”

Section: Control Algorithmsmentioning

confidence: 99%

“…Abedloo et al. in 146 have mathematically modelled the RHAS robot. In this study, the authors used the PD controller for the experimental study, employing it to synchronize the slave RHAS robot with the movements of the master robot.…”

Section: Available Technologiesmentioning

confidence: 99%

See 2 more Smart Citations

Review on challenges for robotic eye surgery; surgical systems, technologies, cost‐effectiveness, and controllers

Abadi

Ordys

Kukiełka

et al. 2023

Robotics Computer Surgery

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In recent decades, a number of surgical systems have been developed and are applied for a growing variety of surgeries. This review will consider the significant challenges of robotic surgery for the eye. These challenges take into account the different eye diseases, available technologies, and costs in different surgical systems for the eye. The conditions of a suitable controller will be discussed with consideration of relevant control engineering concepts. Comparison is made between the different characteristics of surgical robots for the eye. In this review, some comparisons will be made in eye surgical robots, control algorithms, sensors in surgical robots, communication protocols, and actuators.

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Section: Available Technologiesmentioning

confidence: 99%