Quelques problèmes de conception et commande de robots médicaux

Abstract

Robotics is proven to be a very promising tool for less invasive surgery and for improving surgeon performance. The benefit for the patient is a shorter and more comfortable post-operative recovery period, and less risks during surgery. Medical robotics requires very broad engineering skills to cope with very complex surgical constraints. It now became a reality and is very promising for the next future. Based on two practical experiences of the authors, this paper presents some problems related with the design and control of such systems. © 2003 Éditions scientifiques et médicales Elsevier SAS. Tous droits réservés.