Résumé: In the security e-Health brain neurosurgery, one of the important process is to move the electrocoagulation to the appropriate position so as to excavate the diseased tissue. However, surgeons cannot freely operate the electrocoagulation since the work space is too much narrow in the brain. Due to the precision, the vulnerability and the important function of brain tissues, it is essential to ensure the precision and the safety of the brain tissues surrounding the diseased part. In this paper, we propose to use the robot assisted tele-surgery system to accomplish the process. Aiming to achieve the accuracy, an output constrained and RBFNN based bilateral position control method is designed so as to guarantee the stability and the accuracy of the operation process. For the purpose of accomplishing the minimal amount of bleeding and the damage, an adaptive force control of the slave manipulator is proposed so that it may be appropriate to contact the susceptible vessels, nerves and brain tissues. The stability is analyzed and results of numerical simulations show the high performances of proposed controls.

Langue: Anglais