Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery

David Navarro Alarcon, Yunhui Liu, Peng Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)


In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.
Original languageEnglish
Title of host publicationWCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest
Number of pages6
Publication statusPublished - 9 Sep 2011
Externally publishedYes
Event2011 World Congress on Intelligent Control and Automation, WCICA 2011 - Taipei, Taiwan
Duration: 21 Jun 201125 Jun 2011


Conference2011 World Congress on Intelligent Control and Automation, WCICA 2011


  • constrained robot manipulation
  • force control
  • passivity
  • port-Hamiltonian systems
  • Surgical robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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