Nicola Diolaiti

TL;DR: In this article, a medical robotic system with non-ideal actuator-to-joint linkage characteristics, including a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end-effector.

TL;DR: A study of this problem, which relates the maximum achievable object stiffness to the elements of the control loop, examines how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device.

TL;DR: This paper considers a single-point contact, and the (nonlinear) Hunt-Crossley model is taken into account, instead of the classical (linear) Kelvin-Voigt model, which achieves a better physical consistency and also allows describing the behavior of soft materials.

TL;DR: In this article, a surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective.

TL;DR: In this article, a control and transform processor receives data from a master arm controller, an instrument, an imaging system controller, and a guide tube controller and distributes data received from one controller to the other controllers.