触觉钳—机电一体化在医疗器械的应用---外文翻译.docVIP

Medical mechatronics—An application to haptic forceps Abstract In this paper, a medical forceps system with tactile and force feedback ability desired by surgical robots is developed. Bilateral teleoperation systems can decompose into the common and the differential modes in acceleration based controller. The force servoing is attained in the common mode and the position error is regulated in the differential mode. In order to consider the conformity of force with position, the force servoing and the position regulator are integrated in the acceleration. The acceleration based controller is r